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+# VW 1k0 909 144
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+# Toyota 89650-02B50
+
+### NOTES:
+- This ECU is able to be controlled outside of the vehicle
+- The EPS motor for this unit is installed in the steering column
+
+## Terminals of ECU
+![image](TERMINALS_OF_ECU.png "ECU connections")
+
+## Part Numbers
+#### Harness Connector E40
+- Plug Body: 90980-12898
+- Terminals: 82998-24290
+
+#### Harness Connector A25
+- Plug Body: 90980-12900
+- Terminals: 82998-12400
+
+#### OEM EPS motor
+- Steering Column: 45250-02890
+
+## Initialization and control
+
+### Wiring
+- Connect +VBATT to A25-1 and GND to A25-2
+  - An 80A fuse is normally connected between A25-1 and +VBATT
+- Connect E40-1 to IGN
+- Connect E40-7 to CANH and E40-8 to CANL
+- The unit should power on and go into limp-home mode (reduced assist) if CAN is not connected.
+
+### Initialization
+The following CAN messages are required to initialize the EPS so it can be controlled.
+| ID (hex) | LENGTH (bytes) | NOTES |
+|----------|----------------|-------|
+| 0xaa | 8 | WHEEL_SPEEDS |
+| 0x25 | 8 | STEER_ANGLE_SENSOR |
+
+DBC Samples:
+```
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
+```
+
+
+### Control
+CAN control message can be sent when the LKA_STATE signal is in the correct state. This can be found in CAN ID 0x262 (EPS_STATUS) and changes when CAN ID 0x2E4 (LKA_STEERING) is present on the bus.
+
+DBC Sample:
+```
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+ ```
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