Auto commit at 2025-05-30 16:48:18

src/mqtt_report/src/mqtt_report.cpp

@@ -45,10 +45,33 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
     case 0x1A2:
     {
         const uint8_t gearByte = msg->data[0];
-        info_report.gear = (gearByte & 0x01) ? 3 : ((gearByte >> 2) & 0x03);
+        if (gearByte & 0x01)
+        {
+            info_report.gear = 3;
+        }
+        else
+        {
+            // bit2-3 表示当前挡位：
+            switch ((gearByte >> 2) & 0x03)
+            {
+            case 1:
+                info_report.gear = 2;
+                break;
+            case 2:
+                info_report.gear = 0;
+                break;
+            case 3:
+                info_report.gear = 1;
+                break;
+            default:
+                break;
+            }
+        }
 
+        // 温度计算，data[5-6] 是一个 16-bit 原始值，单位 0.1°C，偏移量 -100°C
         const int tempRaw = (msg->data[5] << 8) | msg->data[6];
         info_report.motorTemp = static_cast<int>(tempRaw * 0.1f - 100.0f);
+
         break;
     }