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Add initial info on the CAN data channels for gen2 cars

This commit is contained in:
Timur Iskhodzhanov 2022-05-30 23:45:15 -07:00
parent fcdc1981b4
commit 300f48c1e4
2 changed files with 41 additions and 3 deletions
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6
can_db/ft86.md
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@ -12,6 +12,7 @@ Channel name | CAN ID | Equation | Notes
------------ | --- | -------- | -----
Accelerator position (%) | 320 | `A/2.55` |
Brake position (%) | 209 | `min(C / 0.7, 100)` | The 0.7 divider seems to be a good value to get 100% at pressure slightly higher than those you're likely to use on the track for cars with no aero. You can use 0.8 or 0.9 if you see 100% too often.
Brake pressure | 209 | `C * 128` |
Steering angle | 208 | `bytesToIntLe(raw, 0, 2) * 0.1` | Positive value = turning right. You can add a `-` if you prefer it the other way around.
Speed | 209 | `bytesToIntLe(raw, 0, 2) * 0.015694` | May want to check the multiplier against an external GPS aevice
Engine RPM | 320 | `bitsToUIntLe(raw, 16, 14)` |
@ -31,14 +32,13 @@ all other channels.
Channel name | CAN ID | Equation | Notes
------------ | --- | -------- | -----
Brake pressure | 209 | `C * 128` |
Clutch position | 320 | `B & 0x80 / 1.28` | Only 0% and "not 0%", unfortunately.
Gear | 321 | `(G & 0xf) * (1 - (min(G & 0xf, 7)) / 7)` | Car calculates it based on speed, RPM and clutch position. It's pretty slow. I really doubt it's worth wasting one CAN ID for this channel. It's not that hard to see which gear you're in based on speed and RPM in data.
Throttle position | 320 | `G / 2.55` | This is the throttle *valve*, not pedal.
Lateral acceleration | 208 | `bytesToIntLe(raw, 6, 1) * 0.2` | Data is noisy.
Longitudinal acceleration | 208 | `bytesToIntLe(raw, 7, 1) * -0.1` | Data is noisy.
Combined acceleration | 208 | `sqrt(pow2(bytesToIntLe(raw, 6, 1) * 0.2) + pow2(bytesToIntLe(raw, 7, 1) * 0.1))` |
Yaw rate | 208 | `bytesToIntLe(raw, 2, 2) * -0.286478897` | Or is this "Yaw rate"?
Yaw rate | 208 | `bytesToIntLe(raw, 2, 2) * -0.286478897` |
Wheel speed FL | 212 | `bytesToIntLe(raw, 0, 2) * 0.015694` | Use same multiplier as for "Speed".
Wheel speed FR | 212 | `bytesToIntLe(raw, 2, 2) * 0.015694` | Use same multiplier as for "Speed".
Wheel speed RL | 212 | `bytesToIntLe(raw, 4, 2) * 0.015694` | Use same multiplier as for "Speed".
@ -104,7 +104,7 @@ Update frequency: 50 times per second.
Channel name | Equation | Notes
------------ | -------- | -----
Steering angle | `bytesToIntLe(raw, 0, 2) * 0.1` | Also available in 0x18
Yaw rate | `bytesToIntLe(raw, 2, 2) * -0.286478897` | The multiplier for º/sec appears to be ((90 / pi) * 100). Or is this "yaw rate"?..
Yaw rate | `bytesToIntLe(raw, 2, 2) * -0.286478897` | The multiplier for º/sec appears to be ((90 / pi) * 100).
??? | `E` | Some flags?
??? | `F` | Some flags?
Lateral acceleration | `bytesToIntLe(raw, 6, 1) * 0.2` | Not 100% sure about the multiplier, but looks about right

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can_db/ft86_gen2.md Normal file
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@ -0,0 +1,38 @@
# FT86 gen2 cars (2022 Subaru BRZ, Toyota GR86)
For details on how to connect to the CAN bus, as well as more information on the
information available on the CAN bus, see https://github.com/timurrrr/ft86/blob/main/can_bus/gen2.md
Note: the gen2 CAN IDs require some code changes to this CAN bus reader project
(such as different rate limiting parameters) that haven't been pushed to GitHub
yet. Stay tuned!
Special thanks to Ken Houseal for his early legwork on finding some of these
data mappings!
## Recommended CAN IDs:
Here are CAN IDs and RaceChrono equations for data channels that should be enough
for most people:
Channel name | CAN ID | Equation | Notes
------------ | --- | -------- | -----
Accelerator position (%) | 64 | `E / 2.55` |
Brake position (%) | 313 | `min(F / 0.7, 100)` | The 0.7 divider seems to be a good value to get 100% at pressure slightly higher than those you're likely to use on the track for cars with no aero. You can use 0.8 or 0.9 if you see 100% too often.
Brake pressure | 313 | `F * 128` | Coefficient taken from 1st gen cars, seems to match fine?
Steering angle | 312 | `bytesToIntLe(raw, 2, 2) * 0.1` | Positive value = turning right. You can add a `-` if you prefer it the other way around.
Speed | 323 | `bytesToIntLe(raw, 3, 2) * 0.015694` | May want to check the multiplier against an external GPS aevice
Engine RPM | 64 | `bitsToUIntLe(raw, 16, 14)` |
Coolant temperature | 837 | `E - 40` |
Engine oil temperature | 837 | `D - 40` |
Below is a table with a few more data channels that might be useful for more
detailed analysis. When adding more channels, be aware that it might negatively
affect the update rate of the more essential channels, due to limited Bluetooth
bandwidth.
TODO: add more
Channel name | CAN ID | Equation | Notes
------------ | --- | -------- | -----
Yaw rate | 312 | `bytesToIntLe(raw, 4, 2) * -0.2725` | Calibrated against the gyroscope in RaceBox Mini. Gen1 used 0.286478897 instead.