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This commit is contained in:
Marcel Peterkau
2022-02-04 23:34:51 +01:00
parent 055183ce90
commit 5824a32ad2
4 changed files with 7 additions and 7 deletions
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4
Software/ChainLube/src/can.cpp
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@@ -19,7 +19,7 @@ void Init_CAN()
uint32_t Process_CAN_WheelSpeed()
{
#define FACTOR_RWP_KMH_890ADV 18 // Divider to convert Raw Data to km/h
#define FACTOR_RWP_KMH_890ADV 18 // Divider to convert Raw Data to km/h
can_frame canMsg;
static uint32_t lastRecTimestamp;
@@ -30,7 +30,7 @@ uint32_t Process_CAN_WheelSpeed()
RearWheelSpeed_raw = (uint16_t)canMsg.data[5] << 8 | canMsg.data[6];
// raw / FACTOR_RWP_KMH_890ADV -> km/h * 100000 -> cm/h / 3600 -> cm/s
// raw * 500 -> cm/s
uint32_t RWP_millimeter_per_second = (((uint32_t)RearWheelSpeed_raw * 1000000) / FACTOR_RWP_KMH_890ADV ) / 3600;
uint32_t RWP_millimeter_per_second = (((uint32_t)RearWheelSpeed_raw * 1000000) / FACTOR_RWP_KMH_890ADV) / 3600;
uint32_t timesincelast = millis() - lastRecTimestamp;
lastRecTimestamp = millis();