Start adding info on FT86 CAN messages
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README.md
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README.md
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@ -81,6 +81,19 @@ INT | Currently unused, may use 9 in the future
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Optionally, put everything into a nice enclosure.
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Optionally, put everything into a nice enclosure.
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## Tweaking to work with your car
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This particular example is optimized to work with FT86 cars (Subaru BRZ,
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Toyota 86, Scion FR-S). You can search for "BRZ" in the source code to see where
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the customizations were made, and tweak to work better with your car.
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If you do have an FT86 car, you might want to read [the info](can_db/ft86.md) on
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messages that these cars are known to send over their CAN network.
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It might be nice to make these customizations programmable via a mobile app and
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store the preferences in the flash storage of the nRF52840, but currently this
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has not been implemented to keep the code minimalistic and easier to read.
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## Testing
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## Testing
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You don't need to always be in the car to test changes.
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You don't need to always be in the car to test changes.
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@ -88,4 +101,5 @@ Instead, you can build another device (possibly using a cheaper board, such as
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Arduino Uno), and use the
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Arduino Uno), and use the
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[FakeSubaruBRZ example](https://github.com/timurrrr/arduino-CAN/tree/master/examples/FakeSubaruBRZ)
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[FakeSubaruBRZ example](https://github.com/timurrrr/arduino-CAN/tree/master/examples/FakeSubaruBRZ)
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from my fork of the `arduino-CAN` library, and connect the two boards into a
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from my fork of the `arduino-CAN` library, and connect the two boards into a
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small CAN network.
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small CAN network. Note that you don't need to use a jumper to connect the
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120 Ohm resistor on the second board in a CAN network (right?).
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@ -0,0 +1,13 @@
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# FT86 cars (Subaru BRZ, Toyota 86, Scion FR-S)
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## PID 0xD0
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Update frequency: 50 times per second.
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Channel | RaceChrono equation
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------- | -------------------
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Steering angle | bytesToIntLe(raw, 0, 2) * 0.1
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Z rate of rotation | bytesToIntLe(raw, 2, 2) * -0.318309886
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??? | bytes 4, 5
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Lateral acceleration | bytesToIntLe(raw, 6, 1) * 0.2
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Longitudinal acceleration | bytesToIntLe(raw, 7, 1) * -0.1
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