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Kevin Roscom 5712251927 start making folders and putting info 2022-02-21 16:06:37 -07:00
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README.md

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

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