new debugger and websockets

2023-02-23 23:14:58 +01:00
parent c9a6e4c870
commit 77a94de2eb
14 changed files with 516 additions and 283 deletions
--- a/Software/src/can.cpp
+++ b/Software/src/can.cpp
@@ -27,6 +27,7 @@ uint32_t Process_CAN_WheelSpeed()

    if (CAN0.readMsgBuf(&canMsg.can_id, &canMsg.can_dlc, canMsg.data) == CAN_OK)
    {
+
        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