This is a SAS (Steering Angle Sensor) proxy that forwards SAS messages from one CAN bus to another. It listens for CAN messages which contains SAS info, scales up the angle, and send it out on another CAN bus.
This is not an officially supported Google product.
I wrote the SAS proxy to solve my own problem.
I own a '11 Subaru Forester XT which has a 19:1 steering rack. I installed '15 STI steering rack which is 13:1 and then VDC kicks in engaging brakes when the car is in turn with some speed. VDC considers the car is slipping because the speed differences detected between inner and outer wheels is too large for the turn. However it has no idea the car is running on a faster rack.
One way to solve the problem is to update the VDC code so it knows the new configuration of the rack, but there's no such aftermarket solution. So I went the other way, scale up the steering angle so VDC sees angle similar to stock rack.
You need:
- 1x Arduino Uno
- 2x Seeed-Studio CAN BUS shields
- Install the CAN BUS Shield library
- Check out sas-proxy from GitHub.
- Open it with Arduino IDE.
- Build and Upload.