diff --git a/A11_F407_SDC_ACQ_DAC_CubeMX/Src/main.c b/A11_F407_SDC_ACQ_DAC_CubeMX/Src/main.c
index 675a3d4..a433a2c 100644
--- a/A11_F407_SDC_ACQ_DAC_CubeMX/Src/main.c
+++ b/A11_F407_SDC_ACQ_DAC_CubeMX/Src/main.c
@@ -62,26 +62,29 @@ typedef struct
 
 #define GPIO_INPUT_MASK           0x7FFFU
 #define UART_LINE_SIZE            32U
-#define ADC_REPORT_PERIOD_MS      500U
-#define PWM_REPORT_PERIOD_MS      20U
-#define CAN_HEARTBEAT_PERIOD_MS   100U
-#define DAC_CAN_TIMEOUT_MS        100U
+#define ADC_REPORT_PERIOD_MS      500U
+#define PWM_REPORT_PERIOD_MS      20U
+#define GPIO_REPORT_PERIOD_MS     1000U
+#define CAN_HEARTBEAT_PERIOD_MS   100U
+#define DAC_CAN_TIMEOUT_MS        100U
 #define PWM_TIMEOUT_MS            1000U
+#define WHEEL_PULSES_PER_REV       49U
+#define WHEEL_CIRCUMFERENCE_MM     1414U
 
-#define CAN_HEARTBEAT_STD_ID      0x6A0U
-#define CAN_ADC_REPORT_STD_ID     0x6A1U
-#define CAN_PWM_REPORT_STD_ID     0x6A2U
-#define CAN_DAC_CMD_STD_ID        0x6A3U
-#define CAN_DAC_ACK_STD_ID        0x6A4U
-#define CAN_ASSI_LAMP_CMD_STD_ID  0x6A5U
-#define CAN_GPIO_REPORT_STD_ID    0x6A6U
-
-#define ASSI_LAMP_FLASH_HALF_PERIOD_MS 250U
-#define ASSI_STATE_OFF             0U
-#define ASSI_STATE_READY           1U
-#define ASSI_STATE_DRIVING         2U
-#define ASSI_STATE_EMERGENCY       3U
-#define ASSI_STATE_FINISHED        4U
+#define CAN_HEARTBEAT_STD_ID      0x6A0U
+#define CAN_ADC_REPORT_STD_ID     0x6A1U
+#define CAN_PWM_REPORT_STD_ID     0x6A2U
+#define CAN_DAC_CMD_STD_ID        0x6A3U
+#define CAN_DAC_ACK_STD_ID        0x6A4U
+#define CAN_ASSI_LAMP_CMD_STD_ID  0x6A5U
+#define CAN_GPIO_REPORT_STD_ID    0x6A6U
+
+#define ASSI_LAMP_FLASH_HALF_PERIOD_MS 250U
+#define ASSI_STATE_OFF             0U
+#define ASSI_STATE_READY           1U
+#define ASSI_STATE_DRIVING         2U
+#define ASSI_STATE_EMERGENCY       3U
+#define ASSI_STATE_FINISHED        4U
 
 /* USER CODE END PD */
 
@@ -100,31 +103,31 @@ I2C_HandleTypeDef hi2c2;
 
 TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim5;
-TIM_HandleTypeDef htim9;
-TIM_HandleTypeDef htim12;
 
 UART_HandleTypeDef huart1;
 
 /* USER CODE BEGIN PV */
-static CaptureChannel capture_channels[4];
+/* PA0 left-front and PA6 right-front wheel-speed inputs only. */
+static CaptureChannel capture_channels[2];
 static uint16_t gpio_last_state;
 static volatile uint16_t gpio_shadow_state;
 static volatile uint16_t gpio_report_state;
 static volatile uint16_t gpio_pending_changed_mask;
-static uint32_t last_adc_report_ms;
-static uint32_t last_pwm_report_ms;
-static uint32_t last_heartbeat_ms;
-static uint32_t last_can_heartbeat_ms;
-static uint32_t dac_can_last_command_ms[2];
-static bool dac_can_watchdog_active[2];
+static uint32_t last_adc_report_ms;
+static uint32_t last_pwm_report_ms;
+static uint32_t last_gpio_report_ms;
+static uint32_t last_heartbeat_ms;
+static uint32_t last_can_heartbeat_ms;
+static uint32_t dac_can_last_command_ms[2];
+static bool dac_can_watchdog_active[2];
 static uint16_t can_heartbeat_sequence;
 static uint32_t adc_filter_history[ADC_FILTER_WINDOW];
 static uint32_t adc_filter_sum;
 static uint8_t adc_filter_count;
 static uint8_t adc_filter_index;
 static char uart_line[UART_LINE_SIZE];
-static uint8_t uart_line_len;
-static uint8_t assi_lamp_state;
+static uint8_t uart_line_len;
+static uint8_t assi_lamp_state;
 
 /* USER CODE END PV */
 
@@ -136,8 +139,6 @@ static void MX_CAN2_Init(void);
 static void MX_I2C2_Init(void);
 static void MX_TIM3_Init(void);
 static void MX_TIM5_Init(void);
-static void MX_TIM9_Init(void);
-static void MX_TIM12_Init(void);
 static void MX_USART1_UART_Init(void);
 static void MX_ADC1_Init(void);
 /* USER CODE BEGIN PFP */
@@ -147,11 +148,11 @@ static void PollCanBus(CAN_HandleTypeDef *hcan, const char *name);
 static void PollCaptureChannels(void);
 static void PollGpioChanges(void);
 static void SendPeriodicReport(void);
-static void ServiceHeartbeat(void);
-static void ServiceAssiLamp(void);
-static void ServiceDacCanWatchdog(void);
-static void SendCanHeartbeat(void);
-static void HandleAssiLampSetRequest(const char *source, uint8_t state);
+static void ServiceHeartbeat(void);
+static void ServiceAssiLamp(void);
+static void ServiceDacCanWatchdog(void);
+static void SendCanHeartbeat(void);
+static void HandleAssiLampSetRequest(const char *source, uint8_t state);
 static void HandleTextCommand(const char *source, const char *line);
 static void HandleDacSetRequest(const char *source, uint8_t dac_id, uint16_t millivolts);
 static void UartWrite(const char *text);
@@ -163,6 +164,7 @@ static const char *DacName(uint8_t dac_id);
 static uint16_t ReadGpioInputState(void);
 static void QueueGpioSnapshot(uint16_t state);
 static uint32_t ReadAdcInputMillivolts(void);
+static uint32_t WheelSpeedMmPerSecond(uint32_t frequency_hz);
 static uint32_t GetTimerClockHz(const TIM_HandleTypeDef *htim);
 static void InitCaptureChannels(void);
 static void ConfigureCanRuntime(CAN_HandleTypeDef *hcan);
@@ -221,8 +223,6 @@ int main(void)
   MX_I2C2_Init();
   MX_TIM3_Init();
   MX_TIM5_Init();
-  MX_TIM9_Init();
-  MX_TIM12_Init();
   MX_USART1_UART_Init();
   MX_ADC1_Init();
   /* USER CODE BEGIN 2 */
@@ -238,11 +238,11 @@ int main(void)
 
     /* USER CODE BEGIN 3 */
     PollUart();
-    PollCanBus(&hcan1, "CAN1");
-    PollCanBus(&hcan2, "CAN2");
-    ServiceDacCanWatchdog();
-    ServiceAssiLamp();
-    PollCaptureChannels();
+    PollCanBus(&hcan1, "CAN1");
+    PollCanBus(&hcan2, "CAN2");
+    ServiceDacCanWatchdog();
+    ServiceAssiLamp();
+    PollCaptureChannels();
     PollGpioChanges();
     SendPeriodicReport();
     ServiceHeartbeat();
@@ -548,88 +548,6 @@ static void MX_TIM5_Init(void)
 
 }
 
-/**
-  * @brief TIM9 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM9_Init(void)
-{
-
-  /* USER CODE BEGIN TIM9_Init 0 */
-
-  /* USER CODE END TIM9_Init 0 */
-
-  TIM_IC_InitTypeDef sConfigIC = {0};
-
-  /* USER CODE BEGIN TIM9_Init 1 */
-
-  /* USER CODE END TIM9_Init 1 */
-  htim9.Instance = TIM9;
-  htim9.Init.Prescaler = 159;
-  htim9.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim9.Init.Period = 0xFFFF;
-  htim9.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim9.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_IC_Init(&htim9) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
-  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
-  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
-  sConfigIC.ICFilter = 0;
-  if (HAL_TIM_IC_ConfigChannel(&htim9, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM9_Init 2 */
-
-  /* USER CODE END TIM9_Init 2 */
-
-}
-
-/**
-  * @brief TIM12 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM12_Init(void)
-{
-
-  /* USER CODE BEGIN TIM12_Init 0 */
-
-  /* USER CODE END TIM12_Init 0 */
-
-  TIM_IC_InitTypeDef sConfigIC = {0};
-
-  /* USER CODE BEGIN TIM12_Init 1 */
-
-  /* USER CODE END TIM12_Init 1 */
-  htim12.Instance = TIM12;
-  htim12.Init.Prescaler = 159;
-  htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim12.Init.Period = 0xFFFF;
-  htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_IC_Init(&htim12) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
-  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
-  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
-  sConfigIC.ICFilter = 0;
-  if (HAL_TIM_IC_ConfigChannel(&htim12, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM12_Init 2 */
-
-  /* USER CODE END TIM12_Init 2 */
-
-}
-
 /**
   * @brief USART1 Initialization Function
   * @param None
@@ -685,7 +603,7 @@ static void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11, GPIO_PIN_RESET);
 
   /*Configure GPIO pins : PD8 PD9 PD10 PD11
                            PD12 PD13 PD14 PD0
@@ -706,8 +624,8 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PE0 PE1 PE9 PE10 PE11 */
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11;
+  /*Configure GPIO pins : PE0 PE1 PE9 PE10 PE11 */
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -765,29 +683,29 @@ static void AppInit(void)
   gpio_shadow_state = gpio_last_state;
   gpio_report_state = gpio_last_state;
   gpio_pending_changed_mask = 0U;
-  last_adc_report_ms = HAL_GetTick();
-  last_pwm_report_ms = last_adc_report_ms;
-  last_heartbeat_ms = last_adc_report_ms;
-  last_can_heartbeat_ms = last_adc_report_ms;
-  dac_can_last_command_ms[0] = 0U;
-  dac_can_last_command_ms[1] = 0U;
-  dac_can_watchdog_active[0] = false;
-  dac_can_watchdog_active[1] = false;
+  last_adc_report_ms = HAL_GetTick();
+  last_pwm_report_ms = last_adc_report_ms;
+  last_gpio_report_ms = last_adc_report_ms;
+  last_heartbeat_ms = last_adc_report_ms;
+  last_can_heartbeat_ms = last_adc_report_ms;
+  dac_can_last_command_ms[0] = 0U;
+  dac_can_last_command_ms[1] = 0U;
+  dac_can_watchdog_active[0] = false;
+  dac_can_watchdog_active[1] = false;
   can_heartbeat_sequence = 0U;
   adc_filter_sum = 0U;
   adc_filter_count = 0U;
   adc_filter_index = 0U;
-  uart_line_len = 0U;
-  assi_lamp_state = ASSI_STATE_OFF;
+  uart_line_len = 0U;
+  assi_lamp_state = ASSI_STATE_OFF;
 
   (void)DacSetMillivolts(1U, 0U);
   (void)DacSetMillivolts(2U, 0U);
 
   UartWrite("\r\nA11 F407 monitor ready\r\n");
   UartWrite("UART: DAC1 1.234 or DAC2 2500\r\n");
-  UartWrite("CAN cmd 0x6A3: [dac_id][mV_L][mV_H] or ASCII text\r\n");
-  UartWrite("CAN cmd 0x6A5: [ASSI state 0=OFF,1=READY,2=DRIVING,3=EMERGENCY,4=FINISHED]\r\n");
-  BroadcastGpioReport(0U, gpio_last_state);
+  UartWrite("CAN cmd 0x6A3: [dac_id][mV_L][mV_H] or ASCII text\r\n");
+  UartWrite("CAN cmd 0x6A5: [ASSI state 0=OFF,1=READY,2=DRIVING,3=EMERGENCY,4=FINISHED]\r\n");
 }
 
 static void PollUart(void)
@@ -836,14 +754,14 @@ static void PollCanBus(CAN_HandleTypeDef *hcan, const char *name)
       continue;
     }
 
-    if (rx_header.StdId == CAN_DAC_CMD_STD_ID)
+    if (rx_header.StdId == CAN_DAC_CMD_STD_ID)
     {
-      if ((rx_header.DLC >= 3U) && (rx_data[0] >= 1U) && (rx_data[0] <= 2U))
-      {
-        uint16_t millivolts = (uint16_t)rx_data[1] | ((uint16_t)rx_data[2] << 8);
-        HandleDacSetRequest(name, rx_data[0], millivolts);
-        dac_can_last_command_ms[rx_data[0] - 1U] = HAL_GetTick();
-        dac_can_watchdog_active[rx_data[0] - 1U] = true;
+      if ((rx_header.DLC >= 3U) && (rx_data[0] >= 1U) && (rx_data[0] <= 2U))
+      {
+        uint16_t millivolts = (uint16_t)rx_data[1] | ((uint16_t)rx_data[2] << 8);
+        HandleDacSetRequest(name, rx_data[0], millivolts);
+        dac_can_last_command_ms[rx_data[0] - 1U] = HAL_GetTick();
+        dac_can_watchdog_active[rx_data[0] - 1U] = true;
       }
       else
       {
@@ -853,15 +771,15 @@ static void PollCanBus(CAN_HandleTypeDef *hcan, const char *name)
         memcpy(line, rx_data, length);
         line[length] = '\0';
         HandleTextCommand(name, line);
-      }
-    }
-    else if (rx_header.StdId == CAN_ASSI_LAMP_CMD_STD_ID)
-    {
-      if ((rx_header.DLC >= 1U) && (rx_data[0] <= ASSI_STATE_FINISHED))
-      {
-        HandleAssiLampSetRequest(name, rx_data[0]);
-      }
-    }
+      }
+    }
+    else if (rx_header.StdId == CAN_ASSI_LAMP_CMD_STD_ID)
+    {
+      if ((rx_header.DLC >= 1U) && (rx_data[0] <= ASSI_STATE_FINISHED))
+      {
+        HandleAssiLampSetRequest(name, rx_data[0]);
+      }
+    }
   }
 }
 
@@ -903,62 +821,68 @@ static void PollCaptureChannels(void)
 
 static void PollGpioChanges(void)
 {
+  uint32_t now = HAL_GetTick();
   uint16_t state;
   uint16_t changed;
+  char line[96];
 
   __disable_irq();
   QueueGpioSnapshot(ReadGpioInputState());
+  __enable_irq();
+
+  if ((now - last_gpio_report_ms) < GPIO_REPORT_PERIOD_MS)
+  {
+    return;
+  }
+
+  __disable_irq();
   changed = gpio_pending_changed_mask;
   state = gpio_report_state;
   gpio_pending_changed_mask = 0U;
   __enable_irq();
 
-  if (changed != 0U)
-  {
-    char line[96];
-
-    gpio_last_state = state;
-    snprintf(line,
-             sizeof(line),
-             "GPIO changed mask=0x%04X state=0x%04X\r\n",
-             (unsigned int)changed,
-             (unsigned int)state);
-    UartWrite(line);
-    BroadcastGpioReport(changed, state);
-  }
+  last_gpio_report_ms = now;
+  gpio_last_state = state;
+  snprintf(line,
+           sizeof(line),
+           "GPIO state=0x%04X changed=0x%04X\r\n",
+           (unsigned int)state,
+           (unsigned int)changed);
+  UartWrite(line);
+  BroadcastGpioReport(changed, state);
 }
 
 static void SendPeriodicReport(void)
 {
   uint32_t now = HAL_GetTick();
 
-  if ((now - last_adc_report_ms) >= ADC_REPORT_PERIOD_MS)
-  {
+  if ((now - last_adc_report_ms) >= ADC_REPORT_PERIOD_MS)
+  {
     uint32_t adc_mv = ReadAdcInputMillivolts();
     char line[160];
 
-    last_adc_report_ms = now;
+    last_adc_report_ms = now;
 
     snprintf(line,
              sizeof(line),
-             "ADC=%lumV PWM=%lu,%lu,%lu,%luHz\r\n",
+             "ADC=%lumV WheelSpeed=LF:%lu.%03lum/s RF:%lu.%03lum/s\r\n",
              (unsigned long)adc_mv,
-             (unsigned long)capture_channels[0].frequency_hz,
-             (unsigned long)capture_channels[1].frequency_hz,
-             (unsigned long)capture_channels[2].frequency_hz,
-             (unsigned long)capture_channels[3].frequency_hz);
-    UartWrite(line);
-    BroadcastAdcReport(adc_mv);
-  }
-
-  if ((now - last_pwm_report_ms) >= PWM_REPORT_PERIOD_MS)
-  {
-    last_pwm_report_ms = now;
-    BroadcastPwmReport();
-  }
-}
+             (unsigned long)(WheelSpeedMmPerSecond(capture_channels[0].frequency_hz) / 1000U),
+             (unsigned long)(WheelSpeedMmPerSecond(capture_channels[0].frequency_hz) % 1000U),
+             (unsigned long)(WheelSpeedMmPerSecond(capture_channels[1].frequency_hz) / 1000U),
+             (unsigned long)(WheelSpeedMmPerSecond(capture_channels[1].frequency_hz) % 1000U));
+    UartWrite(line);
+    BroadcastAdcReport(adc_mv);
+  }
 
-static void ServiceHeartbeat(void)
+  if ((now - last_pwm_report_ms) >= PWM_REPORT_PERIOD_MS)
+  {
+    last_pwm_report_ms = now;
+    BroadcastPwmReport();
+  }
+}
+
+static void ServiceHeartbeat(void)
 {
   uint32_t now = HAL_GetTick();
 
@@ -967,71 +891,71 @@ static void ServiceHeartbeat(void)
     last_heartbeat_ms = now;
     HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_0);
   }
-}
-
-static void ServiceAssiLamp(void)
-{
-  GPIO_PinState red = GPIO_PIN_RESET;
-  GPIO_PinState green = GPIO_PIN_RESET;
-  GPIO_PinState blue = GPIO_PIN_RESET;
-  bool flash_on = ((HAL_GetTick() / ASSI_LAMP_FLASH_HALF_PERIOD_MS) & 1U) == 0U;
-
-  switch (assi_lamp_state)
-  {
-    case ASSI_STATE_READY:
-      red = GPIO_PIN_SET;
-      green = GPIO_PIN_SET;
-      break;
-
-    case ASSI_STATE_DRIVING:
-      red = flash_on ? GPIO_PIN_SET : GPIO_PIN_RESET;
-      green = flash_on ? GPIO_PIN_SET : GPIO_PIN_RESET;
-      break;
-
-    case ASSI_STATE_EMERGENCY:
-      blue = flash_on ? GPIO_PIN_SET : GPIO_PIN_RESET;
-      break;
-
-    case ASSI_STATE_FINISHED:
-      blue = GPIO_PIN_SET;
-      break;
-
-    case ASSI_STATE_OFF:
-    default:
-      break;
-  }
-
-  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9, red);
-  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, green);
-  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, blue);
-}
-
-static void ServiceDacCanWatchdog(void)
-{
-  uint32_t now = HAL_GetTick();
-  uint8_t dac_id;
-
-  for (dac_id = 1U; dac_id <= 2U; dac_id++)
-  {
-    uint8_t index = dac_id - 1U;
-
-    if (dac_can_watchdog_active[index] &&
-        ((now - dac_can_last_command_ms[index]) >= DAC_CAN_TIMEOUT_MS))
-    {
-      (void)DacSetMillivolts(dac_id, 0U);
-      dac_can_watchdog_active[index] = false;
-    }
-  }
-}
-
-static void HandleAssiLampSetRequest(const char *source, uint8_t state)
-{
-  char reply[64];
-
-  assi_lamp_state = state;
-  snprintf(reply, sizeof(reply), "OK %s ASSI state=%u\r\n", source, (unsigned int)state);
-  UartWrite(reply);
-}
+}
+
+static void ServiceAssiLamp(void)
+{
+  GPIO_PinState red = GPIO_PIN_RESET;
+  GPIO_PinState green = GPIO_PIN_RESET;
+  GPIO_PinState blue = GPIO_PIN_RESET;
+  bool flash_on = ((HAL_GetTick() / ASSI_LAMP_FLASH_HALF_PERIOD_MS) & 1U) == 0U;
+
+  switch (assi_lamp_state)
+  {
+    case ASSI_STATE_READY:
+      red = GPIO_PIN_SET;
+      green = GPIO_PIN_SET;
+      break;
+
+    case ASSI_STATE_DRIVING:
+      red = flash_on ? GPIO_PIN_SET : GPIO_PIN_RESET;
+      green = flash_on ? GPIO_PIN_SET : GPIO_PIN_RESET;
+      break;
+
+    case ASSI_STATE_EMERGENCY:
+      blue = flash_on ? GPIO_PIN_SET : GPIO_PIN_RESET;
+      break;
+
+    case ASSI_STATE_FINISHED:
+      blue = GPIO_PIN_SET;
+      break;
+
+    case ASSI_STATE_OFF:
+    default:
+      break;
+  }
+
+  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9, red);
+  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, green);
+  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, blue);
+}
+
+static void ServiceDacCanWatchdog(void)
+{
+  uint32_t now = HAL_GetTick();
+  uint8_t dac_id;
+
+  for (dac_id = 1U; dac_id <= 2U; dac_id++)
+  {
+    uint8_t index = dac_id - 1U;
+
+    if (dac_can_watchdog_active[index] &&
+        ((now - dac_can_last_command_ms[index]) >= DAC_CAN_TIMEOUT_MS))
+    {
+      (void)DacSetMillivolts(dac_id, 0U);
+      dac_can_watchdog_active[index] = false;
+    }
+  }
+}
+
+static void HandleAssiLampSetRequest(const char *source, uint8_t state)
+{
+  char reply[64];
+
+  assi_lamp_state = state;
+  snprintf(reply, sizeof(reply), "OK %s ASSI state=%u\r\n", source, (unsigned int)state);
+  UartWrite(reply);
+}
 
 static void SendCanHeartbeat(void)
 {
@@ -1049,7 +973,7 @@ static void SendCanHeartbeat(void)
   can_heartbeat_sequence++;
   gpio_state = ReadGpioInputState();
 
-  /* CAN ID 0x6A0, sent independently on CAN1 and CAN2:
+  /* CAN ID 0x6A0, sent independently on CAN1 and CAN2:
    * [0] 0xA1 board identifier; [1] firmware protocol version 1;
    * [2..3] sequence counter, little-endian; [4..7] uptime in ms, little-endian.
    */
@@ -1338,6 +1262,12 @@ static uint32_t GetTimerClockHz(const TIM_HandleTypeDef *htim)
   return (pclk * multiplier) / prescaler;
 }
 
+static uint32_t WheelSpeedMmPerSecond(uint32_t frequency_hz)
+{
+  return (uint32_t)(((uint64_t)frequency_hz * WHEEL_CIRCUMFERENCE_MM +
+                     (WHEEL_PULSES_PER_REV / 2U)) / WHEEL_PULSES_PER_REV);
+}
+
 static void InitCaptureChannels(void)
 {
   capture_channels[0].htim = &htim5;
@@ -1347,43 +1277,21 @@ static void InitCaptureChannels(void)
   capture_channels[0].timer_clock_hz = GetTimerClockHz(&htim5);
   capture_channels[0].last_edge_ms = HAL_GetTick();
 
-  capture_channels[1].htim = &htim9;
+  capture_channels[1].htim = &htim3;
   capture_channels[1].channel = TIM_CHANNEL_1;
   capture_channels[1].flag = TIM_FLAG_CC1;
   capture_channels[1].counter_mask = 0xFFFFU;
-  capture_channels[1].timer_clock_hz = GetTimerClockHz(&htim9);
+  capture_channels[1].timer_clock_hz = GetTimerClockHz(&htim3);
   capture_channels[1].last_edge_ms = HAL_GetTick();
 
-  capture_channels[2].htim = &htim3;
-  capture_channels[2].channel = TIM_CHANNEL_1;
-  capture_channels[2].flag = TIM_FLAG_CC1;
-  capture_channels[2].counter_mask = 0xFFFFU;
-  capture_channels[2].timer_clock_hz = GetTimerClockHz(&htim3);
-  capture_channels[2].last_edge_ms = HAL_GetTick();
-
-  capture_channels[3].htim = &htim12;
-  capture_channels[3].channel = TIM_CHANNEL_1;
-  capture_channels[3].flag = TIM_FLAG_CC1;
-  capture_channels[3].counter_mask = 0xFFFFU;
-  capture_channels[3].timer_clock_hz = GetTimerClockHz(&htim12);
-  capture_channels[3].last_edge_ms = HAL_GetTick();
-
   if (HAL_TIM_IC_Start(&htim5, TIM_CHANNEL_1) != HAL_OK)
   {
     Error_Handler();
   }
-  if (HAL_TIM_IC_Start(&htim9, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
   if (HAL_TIM_IC_Start(&htim3, TIM_CHANNEL_1) != HAL_OK)
   {
     Error_Handler();
   }
-  if (HAL_TIM_IC_Start(&htim12, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
 }
 
 static void ConfigureCanRuntime(CAN_HandleTypeDef *hcan)
@@ -1480,14 +1388,15 @@ static void BroadcastAdcReport(uint32_t input_mv)
 
 static void BroadcastPwmReport(void)
 {
-  uint8_t payload[8];
+  uint8_t payload[4];
   size_t i;
 
-  for (i = 0U; i < 4U; i++)
+  for (i = 0U; i < 2U; i++)
   {
-    uint16_t clamped = (capture_channels[i].frequency_hz > 0xFFFFU) ?
+    uint32_t speed_mm_per_s = WheelSpeedMmPerSecond(capture_channels[i].frequency_hz);
+    uint16_t clamped = (speed_mm_per_s > 0xFFFFU) ?
                        0xFFFFU :
-                       (uint16_t)capture_channels[i].frequency_hz;
+                       (uint16_t)speed_mm_per_s;
     payload[i * 2U] = (uint8_t)(clamped & 0xFFU);
     payload[(i * 2U) + 1U] = (uint8_t)(clamped >> 8);
   }
diff --git a/PC_Test/SDCAcqDacTester/MainWindow.xaml.cs b/PC_Test/SDCAcqDacTester/MainWindow.xaml.cs
index f06df27..7304e18 100644
--- a/PC_Test/SDCAcqDacTester/MainWindow.xaml.cs
+++ b/PC_Test/SDCAcqDacTester/MainWindow.xaml.cs
@@ -146,8 +146,8 @@ public partial class MainWindow : Window
             case AdcId when d.Length >= 2:
                 string adc = $"{U16(d, 0)} mV ({U16(d, 0) / 1000.0:F3} V)";
                 AdcValue.Text = adc; return adc;
-            case PwmId when d.Length >= 8:
-                string pwm = string.Join(" / ", Enumerable.Range(0, 4).Select(i => $"{U16(d, i * 2)} Hz"));
+            case PwmId when d.Length >= 4:
+                string pwm = $"左前 PA0={U16(d, 0) / 1000.0:F3} m/s / 右前 PA6={U16(d, 2) / 1000.0:F3} m/s";
                 PwmValue.Text = pwm; return pwm;
             case DacAckId when d.Length >= 4:
                 string ack = $"DAC{d[1]} {(d[0] == 1 ? "OK" : "ERR")} = {U16(d, 2)} mV";
diff --git a/SDC-ACQ_DAC_固件交付说明.html b/SDC-ACQ_DAC_固件交付说明.html
index ecbbee6..9de25b8 100644
--- a/SDC-ACQ_DAC_固件交付说明.html
+++ b/SDC-ACQ_DAC_固件交付说明.html
@@ -76,8 +76,8 @@
   <h2>1. 功能概览</h2>
   <table>
     <tr><th style="width:20%">功能</th><th>当前实现</th></tr>
-    <tr><td>状态采集</td><td>采集 PD0–PD14 共 15 路数字输入。上电和任一输入变化时，向 CAN1、CAN2 发送完整状态与变化掩码。</td></tr>
-    <tr><td>频率采集</td><td>采集 PA0、PA2、PA6、PB14 的上升沿频率，每 20 ms 通过 CAN 输出；串口每 500 ms 汇总输出。</td></tr>
+    <tr><td>状态采集</td><td>采集 PD0–PD14 共 15 路数字输入。每 1 秒向 CAN1、CAN2 发送完整状态与该秒内累积的变化掩码。</td></tr>
+    <tr><td>轮速采集</td><td>仅采集左前 PA0、右前 PA6 的上升沿；以每圈 49 个方波、轮周长 1414 mm 换算为 m/s，每 20 ms 通过 CAN 输出。</td></tr>
     <tr><td>电压采集</td><td>ADC1_IN8（PB0）测量外部经分压后的输入；对外输出分压前、已标定且滤波后的电压。</td></tr>
     <tr><td>CAN</td><td>CAN1 与 CAN2 均为 500 kbit/s、11 位标准数据帧，并使用相同协议。</td></tr>
     <tr><td>DAC</td><td>通过 I2C2 控制两颗 MCP4725，接收 CAN 命令或串口命令设置 0–5.000 V 输出。</td></tr>
@@ -88,7 +88,7 @@
   <table>
     <tr><th>接口</th><th>MCU 引脚 / 外设</th><th>说明</th></tr>
     <tr><td>15 路状态输入</td><td>PD0–PD14 / EXTI</td><td>bit0 对应 PD0，bit14 对应 PD14。</td></tr>
-    <tr><td>频率输入</td><td>PA0/TIM5、PA2/TIM9、PA6/TIM3、PB14/TIM12</td><td>上升沿输入捕获。</td></tr>
+    <tr><td>轮速输入</td><td>左前 PA0/TIM5、右前 PA6/TIM3</td><td>上升沿输入捕获。</td></tr>
     <tr><td>电压输入</td><td>PB0 / ADC1_IN8</td><td>报告值为分压前电压，单位 mV。</td></tr>
     <tr><td>CAN1 / CAN2</td><td>PB8/PB9；PB5/PB6</td><td>分别为 RX/TX。</td></tr>
     <tr><td>DAC I2C</td><td>PB10/PB11 / I2C2</td><td>DAC1 地址 0x61，DAC2 地址 0x60（7 位地址）。</td></tr>
@@ -101,11 +101,11 @@
     <tr><th style="width:13%">CAN ID</th><th style="width:19%">名称</th><th style="width:22%">方向 / 时机</th><th>数据定义</th></tr>
     <tr><td><code>0x6A0</code></td><td>心跳</td><td>板卡发送，每 100 ms</td><td><code>A1 01 seq_L seq_H uptime_0..3</code>；板号 A1、协议版本 1、序号、运行时间 ms。</td></tr>
     <tr><td><code>0x6A1</code></td><td>输入电压</td><td>板卡发送，每 500 ms</td><td><code>uint16</code>，单位 mV。例如 <code>90 2F</code> = 0x2F90 = 12176 mV = 12.176 V。</td></tr>
-    <tr><td><code>0x6A2</code></td><td>四路频率</td><td>板卡发送，每 20 ms</td><td>4 个 <code>uint16</code>，单位 Hz；依次为 PA0、PA2、PA6、PB14。</td></tr>
+    <tr><td><code>0x6A2</code></td><td>双路轮速</td><td>板卡发送，每 20 ms</td><td>DLC=4；左前 PA0、右前 PA6 各一个 <code>uint16</code>，原始单位 mm/s（DBC 物理量纲 <code>0.001 m/s</code>）。按每圈 49 方波、轮周长 1414 mm 换算。</td></tr>
     <tr><td><code>0x6A3</code></td><td>DAC 设置</td><td>外部发送给板卡</td><td><code>[DAC 编号][mV_L][mV_H]</code>，编号仅允许 1 或 2；每路 100 ms 未续帧归零。</td></tr>
     <tr><td><code>0x6A4</code></td><td>DAC 应答</td><td>板卡发送，设置后</td><td><code>[结果][DAC 编号][mV_L][mV_H]</code>；结果 1 成功，0 失败。</td></tr>
     <tr><td><code>0x6A5</code></td><td>ASSI RGB 灯控</td><td>外部发送给板卡</td><td><code>byte0</code>：0=关、1=黄常亮、2=黄闪、3=蓝闪、4=蓝常亮。</td></tr>
-    <tr><td><code>0x6A6</code></td><td>15 路状态</td><td>板卡发送，上电或状态变化</td><td>状态 <code>uint16</code>、变化掩码 <code>uint16</code>、时间戳 <code>uint32 ms</code>。</td></tr>
+    <tr><td><code>0x6A6</code></td><td>15 路状态</td><td>板卡发送，每 1 s</td><td>状态 <code>uint16</code>、变化掩码 <code>uint16</code>、时间戳 <code>uint32 ms</code>；变化掩码在本秒内累积。</td></tr>
   </table>
 
   <h3>DAC 设置示例</h3>
@@ -118,7 +118,7 @@ DAC2 输出 1.140 V：ID = 0x6A3，DLC = 3，DATA = 02 74 04
 
   <h2>4. ADC 电压说明</h2>
   <p>ADC 输出为分压前输入电压，换算使用 100 kΩ / 30 kΩ 分压参数，并采用实测标定系数 <code>12300 / 11656</code>。单次报告包含 16 次 ADC 平均，随后对最近 4 次报告做移动平均；输出刷新周期为 500 ms，滤波时间约 2 秒。</p>
-  <pre>串口示例：ADC=12300mV PWM=10,0,0,0Hz</pre>
+  <pre>串口示例：ADC=12300mV WheelSpeed=LF:0.289m/s RF:0.577m/s</pre>
 
   <h2>5. 串口使用</h2>
   <p>串口参数：115200、8 数据位、1 停止位、无校验、无流控。USB-TTL 应交叉连接：PA9/TX → 转换器 RX，PA10/RX → 转换器 TX，并连接公共地。</p>
diff --git a/SDC_ACQ_DAC.dbc b/SDC_ACQ_DAC.dbc
index 767c357..b1887d5 100644
--- a/SDC_ACQ_DAC.dbc
+++ b/SDC_ACQ_DAC.dbc
@@ -43,11 +43,9 @@ BO_ 1696 SDC_Heartbeat: 8 SDC_ACQ_DAC
 BO_ 1697 SDC_ADC_InputVoltage: 2 SDC_ACQ_DAC
  SG_ Input_Voltage : 0|16@1+ (0.001,0) [0|65.535] "V"  VehicleController
 
-BO_ 1698 SDC_InputFrequencies: 8 SDC_ACQ_DAC
- SG_ Frequency_PA0 : 0|16@1+ (1,0) [0|65535] "Hz"  VehicleController
- SG_ Frequency_PA2 : 16|16@1+ (1,0) [0|65535] "Hz"  VehicleController
- SG_ Frequency_PA6 : 32|16@1+ (1,0) [0|65535] "Hz"  VehicleController
- SG_ Frequency_PB14 : 48|16@1+ (1,0) [0|65535] "Hz"  VehicleController
+BO_ 1698 SDC_WheelSpeed: 4 SDC_ACQ_DAC
+ SG_ WheelSpeed_LeftFront_PA0 : 0|16@1+ (0.001,0) [0|65.535] "m/s"  VehicleController
+ SG_ WheelSpeed_RightFront_PA6 : 16|16@1+ (0.001,0) [0|65.535] "m/s"  VehicleController
 
 BO_ 1699 SDC_DAC_Set: 3 VehicleController
  SG_ DAC_Select : 0|8@1+ (1,0) [1|2] ""  SDC_ACQ_DAC
@@ -74,15 +72,13 @@ VAL_ 1701 ASSI_State 0 "AS_OFF" 1 "AS_READY" 2 "AS_DRIVING" 3 "AS_EMERGENCY" 4 "
 
 CM_ BO_ 1696 "Standard ID 0x6A0. Sent every 100 ms on CAN1 and CAN2.";
 CM_ BO_ 1697 "Standard ID 0x6A1. Filtered and calibrated physical input voltage before the hardware divider.";
-CM_ BO_ 1698 "Standard ID 0x6A2. Sent every 20 ms. Frequency order is PA0, PA2, PA6, PB14.";
+CM_ BO_ 1698 "Standard ID 0x6A2. Sent every 20 ms with two wheel speeds: left-front PA0 then right-front PA6. Raw value is mm/s (physical scale 0.001 m/s), derived from 49 pulses/rev and 1414 mm wheel circumference.";
 CM_ BO_ 1699 "Standard ID 0x6A3. Accepted on CAN1 and CAN2. The on-wire voltage is an unsigned mV value. Each DAC is reset to 0 mV if its own control frame is not received again within 100 ms.";
 CM_ BO_ 1700 "Standard ID 0x6A4. Sent on CAN1 and CAN2 after a DAC command. Result 0 indicates the I2C write failed.";
 CM_ BO_ 1701 "Standard ID 0x6A5. Accepted on CAN1 and CAN2. Byte 0 selects the latched ASSI RGB lamp state: AS_OFF, AS_READY, AS_DRIVING, AS_EMERGENCY, or AS_FINISHED.";
-CM_ BO_ 1702 "Standard ID 0x6A6. Sent at startup and whenever PD0-PD14 state changes, on CAN1 and CAN2.";
+CM_ BO_ 1702 "Standard ID 0x6A6. Sent every 1000 ms on CAN1 and CAN2. Changed-mask bits accumulate PD0-PD14 transitions since the preceding report.";
 CM_ SG_ 1696 Board_Identifier "Fixed board identifier 0xA1.";
-CM_ SG_ 1698 Frequency_PA0 "TIM5_CH1 input capture on PA0.";
-CM_ SG_ 1698 Frequency_PA2 "TIM9_CH1 input capture on PA2.";
-CM_ SG_ 1698 Frequency_PA6 "TIM3_CH1 input capture on PA6.";
-CM_ SG_ 1698 Frequency_PB14 "TIM12_CH1 input capture on PB14.";
+CM_ SG_ 1698 WheelSpeed_LeftFront_PA0 "Left-front wheel speed. TIM5_CH1 input capture on PA0; 49 pulses/rev and 1414 mm circumference.";
+CM_ SG_ 1698 WheelSpeed_RightFront_PA6 "Right-front wheel speed. TIM3_CH1 input capture on PA6; 49 pulses/rev and 1414 mm circumference.";
 CM_ SG_ 1702 SDC_Input_State "Bit 0 through bit 14 map directly to PD0 through PD14.";
-CM_ SG_ 1702 SDC_Changed_Mask "A set bit identifies an input that changed since the preceding GPIO-status frame.";
+CM_ SG_ 1702 SDC_Changed_Mask "A set bit identifies an input that changed during the preceding 1000 ms reporting interval.";
diff --git a/output/dbc/SDC_ACQ_DAC.dbc b/output/dbc/SDC_ACQ_DAC.dbc
index 767c357..b1887d5 100644
--- a/output/dbc/SDC_ACQ_DAC.dbc
+++ b/output/dbc/SDC_ACQ_DAC.dbc
@@ -43,11 +43,9 @@ BO_ 1696 SDC_Heartbeat: 8 SDC_ACQ_DAC
 BO_ 1697 SDC_ADC_InputVoltage: 2 SDC_ACQ_DAC
  SG_ Input_Voltage : 0|16@1+ (0.001,0) [0|65.535] "V"  VehicleController
 
-BO_ 1698 SDC_InputFrequencies: 8 SDC_ACQ_DAC
- SG_ Frequency_PA0 : 0|16@1+ (1,0) [0|65535] "Hz"  VehicleController
- SG_ Frequency_PA2 : 16|16@1+ (1,0) [0|65535] "Hz"  VehicleController
- SG_ Frequency_PA6 : 32|16@1+ (1,0) [0|65535] "Hz"  VehicleController
- SG_ Frequency_PB14 : 48|16@1+ (1,0) [0|65535] "Hz"  VehicleController
+BO_ 1698 SDC_WheelSpeed: 4 SDC_ACQ_DAC
+ SG_ WheelSpeed_LeftFront_PA0 : 0|16@1+ (0.001,0) [0|65.535] "m/s"  VehicleController
+ SG_ WheelSpeed_RightFront_PA6 : 16|16@1+ (0.001,0) [0|65.535] "m/s"  VehicleController
 
 BO_ 1699 SDC_DAC_Set: 3 VehicleController
  SG_ DAC_Select : 0|8@1+ (1,0) [1|2] ""  SDC_ACQ_DAC
@@ -74,15 +72,13 @@ VAL_ 1701 ASSI_State 0 "AS_OFF" 1 "AS_READY" 2 "AS_DRIVING" 3 "AS_EMERGENCY" 4 "
 
 CM_ BO_ 1696 "Standard ID 0x6A0. Sent every 100 ms on CAN1 and CAN2.";
 CM_ BO_ 1697 "Standard ID 0x6A1. Filtered and calibrated physical input voltage before the hardware divider.";
-CM_ BO_ 1698 "Standard ID 0x6A2. Sent every 20 ms. Frequency order is PA0, PA2, PA6, PB14.";
+CM_ BO_ 1698 "Standard ID 0x6A2. Sent every 20 ms with two wheel speeds: left-front PA0 then right-front PA6. Raw value is mm/s (physical scale 0.001 m/s), derived from 49 pulses/rev and 1414 mm wheel circumference.";
 CM_ BO_ 1699 "Standard ID 0x6A3. Accepted on CAN1 and CAN2. The on-wire voltage is an unsigned mV value. Each DAC is reset to 0 mV if its own control frame is not received again within 100 ms.";
 CM_ BO_ 1700 "Standard ID 0x6A4. Sent on CAN1 and CAN2 after a DAC command. Result 0 indicates the I2C write failed.";
 CM_ BO_ 1701 "Standard ID 0x6A5. Accepted on CAN1 and CAN2. Byte 0 selects the latched ASSI RGB lamp state: AS_OFF, AS_READY, AS_DRIVING, AS_EMERGENCY, or AS_FINISHED.";
-CM_ BO_ 1702 "Standard ID 0x6A6. Sent at startup and whenever PD0-PD14 state changes, on CAN1 and CAN2.";
+CM_ BO_ 1702 "Standard ID 0x6A6. Sent every 1000 ms on CAN1 and CAN2. Changed-mask bits accumulate PD0-PD14 transitions since the preceding report.";
 CM_ SG_ 1696 Board_Identifier "Fixed board identifier 0xA1.";
-CM_ SG_ 1698 Frequency_PA0 "TIM5_CH1 input capture on PA0.";
-CM_ SG_ 1698 Frequency_PA2 "TIM9_CH1 input capture on PA2.";
-CM_ SG_ 1698 Frequency_PA6 "TIM3_CH1 input capture on PA6.";
-CM_ SG_ 1698 Frequency_PB14 "TIM12_CH1 input capture on PB14.";
+CM_ SG_ 1698 WheelSpeed_LeftFront_PA0 "Left-front wheel speed. TIM5_CH1 input capture on PA0; 49 pulses/rev and 1414 mm circumference.";
+CM_ SG_ 1698 WheelSpeed_RightFront_PA6 "Right-front wheel speed. TIM3_CH1 input capture on PA6; 49 pulses/rev and 1414 mm circumference.";
 CM_ SG_ 1702 SDC_Input_State "Bit 0 through bit 14 map directly to PD0 through PD14.";
-CM_ SG_ 1702 SDC_Changed_Mask "A set bit identifies an input that changed since the preceding GPIO-status frame.";
+CM_ SG_ 1702 SDC_Changed_Mask "A set bit identifies an input that changed during the preceding 1000 ms reporting interval.";
diff --git a/output/pdf/CAN报文说明表.pdf b/output/pdf/CAN报文说明表.pdf
index 891a288..aedcfef 100644
--- a/output/pdf/CAN报文说明表.pdf
+++ b/output/pdf/CAN报文说明表.pdf
@@ -47,7 +47,7 @@ endobj
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 6 0 obj
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+/Author (\(anonymous\)) /CreationDate (D:20261005194858+08'00') /Creator (\(unspecified\)) /Keywords () /ModDate (D:20261005194858+08'00') /Producer (ReportLab PDF Library - \(opensource\)) 
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@@ -58,10 +58,10 @@ endobj
 endobj
 8 0 obj
 <<
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+/Filter [ /ASCII85Decode /FlateDecode ] /Length 2289
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diff --git a/固件使用说明.md b/固件使用说明.md
index bdfb0d1..9592f72 100644
--- a/固件使用说明.md
+++ b/固件使用说明.md
@@ -11,8 +11,8 @@
 1. 接收并处理串口命令。
 2. 接收 CAN1、CAN2 的 DAC 控制帧。
 3. 读取四路定时器捕获值并计算频率。
-4. 汇总 15 路 GPIO 变化并上报。
-5. 每 500 ms 上报 ADC、每 20 ms 上报四路频率。
+4. 汇总 15 路 GPIO 状态与本周期变化，并每秒上报一次。
+5. 每 500 ms 上报 ADC、每 20 ms 上报双路轮速。
 6. 每 500 ms 翻转运行指示灯，每 100 ms 发送 CAN 心跳。
 
 `PE0` 为正常运行心跳灯；若进入 `Error_Handler()`，`PE0` 和 `PE1` 会快速同时翻转。
@@ -22,10 +22,8 @@
 | 功能 | MCU 引脚/外设 | 当前配置 |
 |---|---|---|
 | 15 路状态输入 | `PD0`~`PD14` | 双边沿 EXTI，状态位直接对应端口位 |
-| 频率 1 | `PA0` / `TIM5_CH1` | 上升沿输入捕获，32 位计数器，16 MHz 计数时钟 |
-| 频率 2 | `PA2` / `TIM9_CH1` | 上升沿输入捕获，16 位计数器，100 kHz 计数时钟 |
-| 频率 3 | `PA6` / `TIM3_CH1` | 上升沿输入捕获，16 位计数器，100 kHz 计数时钟 |
-| 频率 4 | `PB14` / `TIM12_CH1` | 上升沿输入捕获，16 位计数器，100 kHz 计数时钟 |
+| 左前轮速 | `PA0` / `TIM5_CH1` | 上升沿输入捕获，32 位计数器，16 MHz 计数时钟 |
+| 右前轮速 | `PA6` / `TIM3_CH1` | 上升沿输入捕获，16 位计数器，100 kHz 计数时钟 |
 | 电压采集 | `PB0` / `ADC1_IN8` | 480 周期采样，16 次过采样 + 4 次报告均值滤波 |
 | CAN1 | `PB8` RX、`PB9` TX | 标准帧，500 kbit/s |
 | CAN2 | `PB5` RX、`PB6` TX | 标准帧，500 kbit/s |
@@ -38,15 +36,15 @@
 
 ## 3. 15 路状态输入
 
-`PD0`~`PD14` 的逻辑电平组成一个 15 位无符号数：bit0 对应 `PD0`，bit14 对应 `PD14`。任何一路变化会触发 EXTI 回调，主循环中合并同一时段的变化并输出：
+`PD0`~`PD14` 的逻辑电平组成一个 15 位无符号数：bit0 对应 `PD0`，bit14 对应 `PD14`。任何一路变化会触发 EXTI 回调，变化掩码会在当前 1 秒周期内累积；`0x6A6` 固定每秒发送一次：
 
 ```text
 GPIO changed mask=0x0004 state=0x0005
 ```
 
 - `state`：当前 15 路完整状态。
-- `mask`：相对于上一次 GPIO 状态帧发生变化的位。
-- 上电时也会发送一帧状态，变化掩码为 0。
+- `mask`：过去 1 秒内发生过变化的位；同一路即使变化多次也只置 1。
+- 上电后首个周期结束时发送第一帧；若无变化，变化掩码为 0。
 
 每秒串口还会打印一次完整状态，例如 `GPIO state=0x0005`。
 
@@ -61,16 +59,16 @@ ADC 原始值 -> 3.3 V ADC 电压 -> 100 kΩ / 30 kΩ 分压反算 -> 标定系
 标定系数固定为 `12300 / 11656`：即以实测输入 12.3 V、旧换算结果 11656 mV 为基准。每次报告读取 16 次 ADC 后求平均，再对最近 4 次报告做移动平均；报告周期为 500 ms，滤波窗口约 2 秒。输出示例：
 
 ```text
-ADC=12300mV PWM=10,0,0,0Hz
+ADC=12300mV WheelSpeed=LF:0.289m/s RF:0.577m/s
 ```
 
 若硬件分压电阻或外部标定基准改变，应同步修改 `main.c` 中的 `ADC_DIVIDER_*` 和 `ADC_CALIBRATION_*` 宏。
 
-## 5. 四路频率输入
+## 5. 双路轮速输入
 
-四路频率按 `PA0`、`PA2`、`PA6`、`PB14` 顺序输出。频率由相邻两个上升沿的计数差计算；超过 1 秒没有边沿则显示 0 Hz。当前固件只测频率，不测 PWM 占空比。
+仅采集左前轮速 `PA0` 和右前轮速 `PA6`。频率由相邻两个上升沿的计数差计算；超过 1 秒没有边沿则输出 0 m/s。每圈 49 个方波、轮周长 1414 mm，因此 `轮速(m/s) = 方波频率(Hz) × 1.414 / 49`。
 
-后三路 16 位定时器采用 100 kHz 计数时钟，以避免低频输入时 16 位溢出。其可无歧义测量的最低频率约为 1.53 Hz；TIM5 为 32 位计数器，低频范围更大。
+`0x6A2` 每 20 ms 发送两个 `uint16`：左前在 Byte0–1，右前在 Byte2–3。原始值的单位为 mm/s，DBC 的物理量纲为 `0.001 m/s`；最高表示 65.535 m/s。PA6 的 TIM3 为 100 kHz、16 位计数器，低频无歧义测量下限约 1.53 Hz；PA0 的 TIM5 为 32 位计数器，低频范围更大。
 
 ## 6. CAN 通信
 
@@ -80,11 +78,11 @@ CAN1 和 CAN2 使用相同协议，所有主动上报均分别发送到两条总
 |---:|---|---|---|
 | `0x6A0` | 心跳 | 每 100 ms | `A1 01 seq_L seq_H uptime_0..3` |
 | `0x6A1` | ADC 电压 | 每 500 ms | 输入电压 `uint16`，单位 mV |
-| `0x6A2` | 四路频率 | 每 20 ms | 4 个 `uint16`，单位 Hz，顺序 PA0/PA2/PA6/PB14 |
+| `0x6A2` | 双路轮速 | 每 20 ms | 左前 PA0、右前 PA6 各一个 `uint16`，单位 `0.001 m/s`，DLC=4 |
 | `0x6A3` | DAC 设置命令 | 接收 | `[DAC 编号][mV_L][mV_H]`；每路在 100 ms 内未收到本路下一帧时归零 |
 | `0x6A4` | DAC 应答 | 每次 DAC 设置后 | `[结果][DAC 编号][mV_L][mV_H]` |
 | `0x6A5` | ASSI 灯控 | 接收 | `byte0`：`0=AS_OFF`、`1=AS_READY`、`2=AS_DRIVING`、`3=AS_EMERGENCY`、`4=AS_FINISHED` |
-| `0x6A6` | GPIO 状态 | 上电、任一输入变化 | 状态 `uint16`、变化掩码 `uint16`、时间戳 `uint32 ms` |
+| `0x6A6` | GPIO 状态 | 每 1 s | 状态 `uint16`、变化掩码 `uint16`、时间戳 `uint32 ms` |
 
 心跳帧中板号为 `0xA1`、协议版本为 `0x01`，序号与上电时间均为低字节在前。完整信号定义和量纲以 [DBC 文件](SDC_ACQ_DAC.dbc) 为准。