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some cheap used junkyard Accelerometer #2225

This commit is contained in:
rusefi 2021-09-30 18:19:22 -04:00
parent 3216a78d1b
commit 9b10a6abb1
1 changed files with 14 additions and 0 deletions
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14
firmware/controllers/can/can_rx.cpp
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@ -101,7 +101,21 @@ void registerCanSensor(CanSensorBase& sensor) {
#define VAG_YAW_RATE_G_LAT 0x130
#define VAG_YAW_ACCEL_G_LONG 0x131
static uint16_t getLSB_intel(const CANRxFrame& frame, int offset) {
return (frame.data8[offset + 1] << 8) + frame.data8[offset];
}
static int16_t getShiftedLSB_intel(const CANRxFrame& frame, int offset) {
return getLSB_intel(frame, offset) - 0x8000;
}
static void processCanRxImu(const CANRxFrame& frame, efitick_t nowNt) {
if (CAN_SID(frame) == 0x130) {
float a = getShiftedLSB_intel(frame, 0);
float b = getShiftedLSB_intel(frame, 4);
efiPrintf("CAN_rx 130 %f %f", a, b);
}
if (CONFIG(imuType) == IMU_VAG) {
if (CAN_SID(frame) == VAG_YAW_RATE_G_LAT) {
efiPrintf("CAN_rx VAG_YAW_RATE_G_LAT");