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some cheap used junkyard Accelerometer #2225

This commit is contained in:
rusefillc 2021-09-30 15:55:34 -04:00
parent 8d395a8a63
commit 28a3807555
1 changed files with 17 additions and 0 deletions
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17
firmware/controllers/can/can_rx.cpp
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@ -98,6 +98,19 @@ void registerCanSensor(CanSensorBase& sensor) {
sensor.Register();
}
#define VAG_YAW_RATE_G_LAT 0x130
#define VAG_YAW_ACCEL_G_LONG 0x131
static void processCanRxImu(const CANRxFrame& frame, efitick_t nowNt) {
if (CONFIG(imuType) == IMU_VAG) {
if (CAN_SID(frame) == VAG_YAW_RATE_G_LAT) {
efiPrintf("CAN_rx VAG_YAW_RATE_G_LAT");
} else if (CAN_SID(frame) == VAG_YAW_ACCEL_G_LONG) {
efiPrintf("CAN_rx VAG_YAW_ACCEL_G_LONG");
}
}
}
void processCanRxMessage(const CANRxFrame &frame, efitick_t nowNt) {
if (CONFIG(debugMode) == DBG_CAN) {
printPacket(frame);
@ -105,9 +118,13 @@ void processCanRxMessage(const CANRxFrame &frame, efitick_t nowNt) {
serviceCanSubscribers(frame, nowNt);
// todo: convert to CanListener or not?
//Vss is configurable, should we handle it here:
processCanRxVss(frame, nowNt);
// todo: convert to CanListener or not?
processCanRxImu(frame, nowNt);
#if EFI_CANBUS_SLAVE
if (CAN_EID(frame) == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
int16_t mapScaled = *reinterpret_cast<const int16_t*>(&frame.data8[0]);