Luca
c32c4645b5
Tooling and findings for running an E8x/E9x electric power steering unit
outside its donor car, e.g. in an EV conversion.
Headline result: the EPS needs only two CAN messages plus a 12V enable
wire, not the 69-message set the car puts on the bus:
0x130 CAS terminal status (100ms) brings the unit up
0x1A0 DSC road speed (20ms) sets the assist level
Total required rate is 60 frames/s. Protocol write-up, including what is
proven vs. inferred and the open questions, is in eps-comms/.
Contents:
adapters/ CANdapter (its SLCAN dialect differs) and generic SLCAN
gateway/ car<->EPS relay, replay, message bench, EPS controller,
4-tab Streamlit UI
decoder/ PT-CAN frame decoding and live/replay sources
can-io/ XIAO ESP32-S3 firmware: CAN IO board + USB-CAN bridge with
a CAN-independent digital IO channel
tools/ capture, bitrate scan, startup-order and session analysis,
checksum solver
captures/ reference working session + the replay set eps_control reads
24 lines
888 B
INI
24 lines
888 B
INI
; ============================================================================
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; CAN IO Board — Seeed Studio XIAO ESP32-S3
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;
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; 4 optocoupler inputs, 2 relay outputs (darlington), SN65HVD230 CAN
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; transceiver on the ESP32-S3's built-in TWAI controller.
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;
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; Build: pio run
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; Upload: pio run -t upload (XIAO connected over USB)
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; Monitor: pio device monitor (log output over native USB CDC)
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; ============================================================================
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[env:seeed_xiao_esp32s3]
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platform = espressif32
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board = seeed_xiao_esp32s3
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framework = arduino
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monitor_speed = 115200
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build_flags =
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; Route Serial to the native USB CDC port. These are already the board
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; defaults for the XIAO ESP32-S3, kept explicit for clarity: it frees
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; UART0's pins (GPIO43/44) for use as Digital out 1/2.
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-DARDUINO_USB_CDC_ON_BOOT=1
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-DARDUINO_USB_MODE=1
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