Steering Angle PID
Posted: Tue Sep 18, 2018 8:32 pm
Okay, I read some posts and I am still having trouble getting this to work. Im gonna just lay all the data out here and ask for the whole answer instead of trying to get it working one question at a time.
I am trying to get the high-res steering angle data to read out of a Toyota. Typically the output to Techstream (the dealer interface) has a resolution of 1.5deg, which doesn't do much for me. The steering angle sensor actually sends the data to the VSC (ABS) ECU at 0.1deg resolution, that is the useful data. Here is the information on the data I want to read:
ECU CAN Address: $7B0
The sensor output request is ($21 $06), so Mode 21, PID $06
The steering angle value is in data positions #5 & #6, LSB is 0.1deg, Offset is -3276.8deg
This is how it is calculated:
Output(in decimal)*LSB+Offset=Steering Angle Degrees
Example:
ECU Output: $FE $DC
Combine that data and convert to decimal: FEDC= 65244
65244*0.1+(-3276.8)=3247.6 deg
Okay, now is someone can tell me how I program that in a custom PID (and it works), you will be my hero (for now, haha!).
Thanks!!
I am trying to get the high-res steering angle data to read out of a Toyota. Typically the output to Techstream (the dealer interface) has a resolution of 1.5deg, which doesn't do much for me. The steering angle sensor actually sends the data to the VSC (ABS) ECU at 0.1deg resolution, that is the useful data. Here is the information on the data I want to read:
ECU CAN Address: $7B0
The sensor output request is ($21 $06), so Mode 21, PID $06
The steering angle value is in data positions #5 & #6, LSB is 0.1deg, Offset is -3276.8deg
This is how it is calculated:
Output(in decimal)*LSB+Offset=Steering Angle Degrees
Example:
ECU Output: $FE $DC
Combine that data and convert to decimal: FEDC= 65244
65244*0.1+(-3276.8)=3247.6 deg
Okay, now is someone can tell me how I program that in a custom PID (and it works), you will be my hero (for now, haha!).
Thanks!!