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Alexander Poletaev 2ec05d2e9d Add UDS protocol support (ISO 14229) for ECU emulator

Implement UDS Service 0x22 (Read Data By Identifier) with support for:
- Engine ECU (0x7E0): boost pressure, fuel rail pressure, lambda, torque,
  wastegate position, ignition timing, knock correction per cylinder
- DSG Transmission (0x7E1): current gear, selector position, oil temp
- Instrument Cluster (0x714): RPM, ambient light sensor

Also adds ECU_EMULATOR_SPEC.md with full protocol documentation.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

2026-01-30 16:28:55 +03:00

16 KiB

Raw Blame History

ECU Emulator Specification

Документация для создания эмулятора ECU для тестирования Carpibord.

Общие сведения

CAN Bus Speed: 500 kbps
CAN ID Format: 11-bit (standard)
Протоколы: OBD2 (ISO 15765-4) + UDS (ISO 14229)

OBD2 Protocol (Mode 0x01)

Формат запроса

CAN ID: 0x7DF (broadcast) или 0x7E0 (ECU direct)
Data:   [Length, Mode, PID, 0x00, 0x00, 0x00, 0x00, 0x00]

Пример запроса RPM:
7DF [02 01 0C 00 00 00 00 00]
     │  │  │
     │  │  └── PID 0x0C (RPM)
     │  └───── Mode 0x01 (Current Data)
     └──────── Length: 2 bytes

Формат ответа

CAN ID: 0x7E8 (ECU response)
Data:   [Length, Mode+0x40, PID, DataA, DataB, ...]

Пример ответа RPM = 2000:
7E8 [04 41 0C 1F 40 00 00 00]
     │  │  │  │   │
     │  │  │  └───┴── Data: (0x1F * 256 + 0x40) / 4 = 2000 RPM
     │  │  └──────── PID 0x0C
     │  └─────────── Mode 0x41 (response to 0x01)
     └────────────── Length: 4 bytes

OBD2 PIDs — Полная спецификация

PID 0x00 — Supported PIDs [01-20]

Параметр	Значение
Request	`7DF [02 01 00 00 00 00 00 00]`
Response	`7E8 [06 41 00 XX XX XX XX 00]`
Formula	Bitmask of supported PIDs

Ответ для нашего набора PIDs:

Поддерживаем: 0x04, 0x05, 0x0C, 0x0D, 0x0F, 0x10, 0x11
Bitmask: 0x18 3F 80 00

7E8 [06 41 00 18 3F 80 00 00]

PID 0x04 — Engine Load

Параметр	Значение
Request	`7DF [02 01 04 00 00 00 00 00]`
Response	`7E8 [03 41 04 XX 00 00 00 00]`
Formula	`A * 100 / 255` (%)
Min	0%
Max	100%
Bytes	1

Примеры:

Load = 0%:    7E8 [03 41 04 00 00 00 00 00]
Load = 50%:   7E8 [03 41 04 80 00 00 00 00]  (0x80 = 128 → 50.2%)
Load = 100%:  7E8 [03 41 04 FF 00 00 00 00]

PID 0x05 — Coolant Temperature

Параметр	Значение
Request	`7DF [02 01 05 00 00 00 00 00]`
Response	`7E8 [03 41 05 XX 00 00 00 00]`
Formula	`A - 40` (°C)
Min	-40°C
Max	215°C
Bytes	1

Примеры:

Temp = -40°C: 7E8 [03 41 05 00 00 00 00 00]
Temp = 0°C:   7E8 [03 41 05 28 00 00 00 00]  (0x28 = 40)
Temp = 90°C:  7E8 [03 41 05 82 00 00 00 00]  (0x82 = 130)
Temp = 105°C: 7E8 [03 41 05 91 00 00 00 00]  (0x91 = 145)

PID 0x0C — Engine RPM

Параметр	Значение
Request	`7DF [02 01 0C 00 00 00 00 00]`
Response	`7E8 [04 41 0C XX YY 00 00 00]`
Formula	`(A * 256 + B) / 4` (RPM)
Min	0 RPM
Max	16383.75 RPM
Bytes	2

Примеры:

RPM = 0:      7E8 [04 41 0C 00 00 00 00 00]
RPM = 800:    7E8 [04 41 0C 0C 80 00 00 00]  (0x0C80 = 3200, /4 = 800)
RPM = 2000:   7E8 [04 41 0C 1F 40 00 00 00]  (0x1F40 = 8000, /4 = 2000)
RPM = 3500:   7E8 [04 41 0C 36 B0 00 00 00]  (0x36B0 = 14000, /4 = 3500)
RPM = 6000:   7E8 [04 41 0C 5D C0 00 00 00]  (0x5DC0 = 24000, /4 = 6000)

Формула кодирования: raw = RPM * 4, затем A = raw >> 8, B = raw & 0xFF

PID 0x0D — Vehicle Speed

Параметр	Значение
Request	`7DF [02 01 0D 00 00 00 00 00]`
Response	`7E8 [03 41 0D XX 00 00 00 00]`
Formula	`A` (km/h)
Min	0 km/h
Max	255 km/h
Bytes	1

Примеры:

Speed = 0:    7E8 [03 41 0D 00 00 00 00 00]
Speed = 50:   7E8 [03 41 0D 32 00 00 00 00]
Speed = 120:  7E8 [03 41 0D 78 00 00 00 00]
Speed = 200:  7E8 [03 41 0D C8 00 00 00 00]

PID 0x0F — Intake Air Temperature

Параметр	Значение
Request	`7DF [02 01 0F 00 00 00 00 00]`
Response	`7E8 [03 41 0F XX 00 00 00 00]`
Formula	`A - 40` (°C)
Min	-40°C
Max	215°C
Bytes	1

Примеры:

Temp = 25°C:  7E8 [03 41 0F 41 00 00 00 00]  (0x41 = 65)
Temp = 40°C:  7E8 [03 41 0F 50 00 00 00 00]  (0x50 = 80)

PID 0x10 — MAF Air Flow Rate

Параметр	Значение
Request	`7DF [02 01 10 00 00 00 00 00]`
Response	`7E8 [04 41 10 XX YY 00 00 00]`
Formula	`(A * 256 + B) / 100` (g/s)
Min	0 g/s
Max	655.35 g/s
Bytes	2

Примеры:

MAF = 5 g/s:   7E8 [04 41 10 01 F4 00 00 00]  (0x01F4 = 500, /100 = 5)
MAF = 25 g/s:  7E8 [04 41 10 09 C4 00 00 00]  (0x09C4 = 2500, /100 = 25)
MAF = 100 g/s: 7E8 [04 41 10 27 10 00 00 00]  (0x2710 = 10000, /100 = 100)

PID 0x11 — Throttle Position

Параметр	Значение
Request	`7DF [02 01 11 00 00 00 00 00]`
Response	`7E8 [03 41 11 XX 00 00 00 00]`
Formula	`A * 100 / 255` (%)
Min	0%
Max	100%
Bytes	1

Примеры:

Throttle = 0%:   7E8 [03 41 11 00 00 00 00 00]
Throttle = 15%:  7E8 [03 41 11 26 00 00 00 00]  (0x26 = 38 → 14.9%)
Throttle = 50%:  7E8 [03 41 11 80 00 00 00 00]
Throttle = 100%: 7E8 [03 41 11 FF 00 00 00 00]

PID 0x20 — Supported PIDs [21-40]

Параметр	Значение
Request	`7DF [02 01 20 00 00 00 00 00]`
Response	`7E8 [06 41 20 XX XX XX XX 00]`

Ответ для поддержки 0x2F:

7E8 [06 41 20 00 00 00 01 00]

PID 0x2F — Fuel Tank Level

Параметр	Значение
Request	`7DF [02 01 2F 00 00 00 00 00]`
Response	`7E8 [03 41 2F XX 00 00 00 00]`
Formula	`A * 100 / 255` (%)
Min	0%
Max	100%
Bytes	1

Примеры:

Fuel = 25%:  7E8 [03 41 2F 40 00 00 00 00]
Fuel = 50%:  7E8 [03 41 2F 80 00 00 00 00]
Fuel = 75%:  7E8 [03 41 2F BF 00 00 00 00]

PID 0x40 — Supported PIDs [41-60]

7E8 [06 41 40 00 00 00 01 00]  (поддержка 0x5C)

PID 0x5C — Oil Temperature

Параметр	Значение
Request	`7DF [02 01 5C 00 00 00 00 00]`
Response	`7E8 [03 41 5C XX 00 00 00 00]`
Formula	`A - 40` (°C)
Min	-40°C
Max	210°C
Bytes	1

Примеры:

Oil Temp = 90°C:  7E8 [03 41 5C 82 00 00 00 00]  (0x82 = 130)
Oil Temp = 110°C: 7E8 [03 41 5C 96 00 00 00 00]  (0x96 = 150)

UDS Protocol (Mode 0x22)

Формат запроса

CAN ID: зависит от ECU (см. таблицу)
Data:   [03, 22, PID_H, PID_L, 55, 55, 55, 55]

Пример запроса Boost (PID 0x202A) к Engine ECU:
7E0 [03 22 20 2A 55 55 55 55]
     │  │  │   │
     │  │  └───┴── PID 0x202A
     │  └───────── Service 0x22 (Read Data By ID)
     └──────────── Length: 3 bytes

Формат ответа

CAN ID: response ID для ECU
Data:   [Length, 62, PID_H, PID_L, DataA, DataB, ...]

Пример ответа Boost = 185 kPa:
7E8 [05 62 20 2A 07 3A 00 00]
     │  │  │   │  │   │
     │  │  └───┴──┴───┴── PID + Data: 0x073A = 1850, *0.1 = 185.0 kPa
     │  └────────────── Service 0x62 (positive response)
     └───────────────── Length: 5 bytes

Negative Response

Если PID не поддерживается:

7E8 [03 7F 22 31 00 00 00 00]
     │  │  │  │
     │  │  │  └── Error code 0x31 (Request Out of Range)
     │  │  └───── Service that failed (0x22)
     │  └──────── Negative response indicator (0x7F)
     └─────────── Length: 3 bytes

UDS PIDs — Engine ECU (0x7E0 → 0x7E8)

PID 0x202A — Boost Pressure Actual

Параметр	Значение
Request	`7E0 [03 22 20 2A 55 55 55 55]`
Response	`7E8 [05 62 20 2A XX YY 00 00]`
Formula	`(A * 256 + B) * 0.1` (kPa)
Min	0 kPa
Max	400 kPa
Bytes	2

Примеры:

Boost = 100 kPa (атм):    7E8 [05 62 20 2A 03 E8 00 00]  (0x03E8 = 1000)
Boost = 150 kPa:          7E8 [05 62 20 2A 05 DC 00 00]  (0x05DC = 1500)
Boost = 200 kPa:          7E8 [05 62 20 2A 07 D0 00 00]  (0x07D0 = 2000)
Boost = 250 kPa (1.5 bar): 7E8 [05 62 20 2A 09 C4 00 00]  (0x09C4 = 2500)

PID 0x2029 — Boost Pressure Target

Параметр	Значение
Request	`7E0 [03 22 20 29 55 55 55 55]`
Response	`7E8 [05 62 20 29 XX YY 00 00]`
Formula	`(A * 256 + B) * 0.1` (kPa)
Min	0 kPa
Max	400 kPa
Bytes	2

PID 0xF423 — Fuel Rail Pressure

Параметр	Значение
Request	`7E0 [03 22 F4 23 55 55 55 55]`
Response	`7E8 [05 62 F4 23 XX YY 00 00]`
Formula	`(A * 256 + B) * 10` (kPa)
Min	0 kPa
Max	25000 kPa (250 bar)
Bytes	2

Примеры:

FRP = 5000 kPa (50 bar):   7E8 [05 62 F4 23 01 F4 00 00]  (0x01F4 = 500)
FRP = 15000 kPa (150 bar): 7E8 [05 62 F4 23 05 DC 00 00]  (0x05DC = 1500)
FRP = 20000 kPa (200 bar): 7E8 [05 62 F4 23 07 D0 00 00]  (0x07D0 = 2000)

PID 0x10C0 — Lambda Actual

Параметр	Значение
Request	`7E0 [03 22 10 C0 55 55 55 55]`
Response	`7E8 [05 62 10 C0 XX YY 00 00]`
Formula	`(A * 256 + B) * 0.000977` (λ)
Min	0.5 λ
Max	2.0 λ
Bytes	2

Примеры:

Lambda = 1.0 (stoich): 7E8 [05 62 10 C0 04 00 00 00]  (0x0400 = 1024 → 1.000)
Lambda = 0.8 (rich):   7E8 [05 62 10 C0 03 33 00 00]  (0x0333 = 819 → 0.800)
Lambda = 1.1 (lean):   7E8 [05 62 10 C0 04 66 00 00]  (0x0466 = 1126 → 1.100)

Формула кодирования: raw = lambda / 0.000977

PID 0x1456 — Lambda Target

Параметр	Значение
Request	`7E0 [03 22 14 56 55 55 55 55]`
Response	`7E8 [05 62 14 56 XX YY 00 00]`
Formula	`(A * 256 + B) * 0.000977` (λ)

PID 0x437C — Torque Actual

Параметр	Значение
Request	`7E0 [03 22 43 7C 55 55 55 55]`
Response	`7E8 [05 62 43 7C XX YY 00 00]`
Formula	`(A * 256 + B) * 0.1` (Nm)
Min	0 Nm
Max	500 Nm
Bytes	2

Примеры:

Torque = 50 Nm:   7E8 [05 62 43 7C 01 F4 00 00]  (0x01F4 = 500)
Torque = 200 Nm:  7E8 [05 62 43 7C 07 D0 00 00]  (0x07D0 = 2000)
Torque = 350 Nm:  7E8 [05 62 43 7C 0D AC 00 00]  (0x0DAC = 3500)

PID 0x39A2 — Wastegate Position Actual

Параметр	Значение
Request	`7E0 [03 22 39 A2 55 55 55 55]`
Response	`7E8 [05 62 39 A2 XX YY 00 00]`
Formula	`(A * 256 + B) * 0.01` (%)
Min	0%
Max	100%
Bytes	2

Примеры:

WG = 0% (closed):  7E8 [05 62 39 A2 00 00 00 00]
WG = 50%:          7E8 [05 62 39 A2 13 88 00 00]  (0x1388 = 5000)
WG = 100% (open):  7E8 [05 62 39 A2 27 10 00 00]  (0x2710 = 10000)

PID 0x39A3 — Wastegate Position Target

Аналогично 0x39A2, Request: 7E0 [03 22 39 A3 55 55 55 55]

PID 0x2004 — Ignition Timing

Параметр	Значение
Request	`7E0 [03 22 20 04 55 55 55 55]`
Response	`7E8 [05 62 20 04 XX YY 00 00]`
Formula	`signed(A * 256 + B) * 0.01` (°)
Min	-10°
Max	50°
Bytes	2 (signed)

Примеры:

Timing = 0°:    7E8 [05 62 20 04 00 00 00 00]
Timing = 10°:   7E8 [05 62 20 04 03 E8 00 00]  (0x03E8 = 1000)
Timing = 25°:   7E8 [05 62 20 04 09 C4 00 00]  (0x09C4 = 2500)
Timing = -5°:   7E8 [05 62 20 04 FE 0C 00 00]  (0xFE0C = -500 signed)

Формула кодирования (signed):

raw = int(timing * 100)
if raw < 0:
    raw = 0x10000 + raw  # Two's complement
A = (raw >> 8) & 0xFF
B = raw & 0xFF

PID 0x200A-0x200D — Timing Correction Cylinders 1-4

Параметр	Значение
Request	`7E0 [03 22 20 0A 55 55 55 55]` (Cyl 1)
Response	`7E8 [05 62 20 0A XX YY 00 00]`
Formula	`signed(A * 256 + B) * 0.01` (°)
Min	-15°
Max	5°
Bytes	2 (signed)

Примеры (Knock retard usually negative):

Cyl1 TC = 0°:   7E8 [05 62 20 0A 00 00 00 00]
Cyl1 TC = -2°:  7E8 [05 62 20 0A FF 38 00 00]  (0xFF38 = -200 signed)
Cyl1 TC = -5°:  7E8 [05 62 20 0A FE 0C 00 00]  (0xFE0C = -500 signed)

UDS PIDs — Instrument Cluster (0x714 → 0x77E)

PID 0x22D1 — RPM from Cluster

Параметр	Значение
Request	`714 [03 22 22 D1 55 55 55 55]`
Response	`77E [05 62 22 D1 XX YY 00 00]`
Formula	`(A * 256 + B) / 4` (RPM)
Min	0 RPM
Max	8000 RPM
Bytes	2

Примеры:

RPM = 850:   77E [05 62 22 D1 0D 48 00 00]  (0x0D48 = 3400, /4 = 850)
RPM = 3000:  77E [05 62 22 D1 2E E0 00 00]  (0x2EE0 = 12000, /4 = 3000)

PID 0x224D — Ambient Light Sensor

Параметр	Значение
Request	`714 [03 22 22 4D 55 55 55 55]`
Response	`77E [04 62 22 4D XX 00 00 00]`
Formula	`A` (0-255, 0=dark, 255=bright)
Bytes	1

Примеры:

Night:      77E [04 62 22 4D 10 00 00 00]  (0x10 = 16)
Daytime:    77E [04 62 22 4D E0 00 00 00]  (0xE0 = 224)

UDS PIDs — DSG Transmission (0x7E1 → 0x7E9)

PID 0x3816 — Current Gear

Параметр	Значение
Request	`7E1 [03 22 38 16 55 55 55 55]`
Response	`7E9 [04 62 38 16 XX 00 00 00]`
Formula	Lookup table
Bytes	1

Gear mapping:

0x00 = Neutral (0)
0x0C = Reverse (-1)
0x02 = 1st gear
0x04 = 2nd gear
0x06 = 3rd gear
0x08 = 4th gear
0x0A = 5th gear
0x0E = 6th gear
0x10 = 7th gear

Примеры:

Neutral:  7E9 [04 62 38 16 00 00 00 00]
Reverse:  7E9 [04 62 38 16 0C 00 00 00]
3rd gear: 7E9 [04 62 38 16 06 00 00 00]
6th gear: 7E9 [04 62 38 16 0E 00 00 00]

PID 0x3815 — Gear Selector Position (PRNDM)

Параметр	Значение
Request	`7E1 [03 22 38 15 55 55 55 55]`
Response	`7E9 [04 62 38 15 XX 00 00 00]`
Formula	Lookup table
Bytes	1

Mode mapping:

0x00 = P (Park)
0x01 = R (Reverse)
0x02 = N (Neutral)
0x03 = D (Drive)
0x04 = S (Sport)
0x05 = M (Manual)

Примеры:

Park:    7E9 [04 62 38 15 00 00 00 00]
Drive:   7E9 [04 62 38 15 03 00 00 00]
Sport:   7E9 [04 62 38 15 04 00 00 00]
Manual:  7E9 [04 62 38 15 05 00 00 00]

PID 0x1940 — Transmission Oil Temperature

Параметр	Значение
Request	`7E1 [03 22 19 40 55 55 55 55]`
Response	`7E9 [04 62 19 40 XX 00 00 00]`
Formula	`A - 40` (°C)
Min	-40°C
Max	150°C
Bytes	1

Примеры:

Temp = 80°C:  7E9 [04 62 19 40 78 00 00 00]  (0x78 = 120)
Temp = 100°C: 7E9 [04 62 19 40 8C 00 00 00]  (0x8C = 140)

Таблица быстрого референса

OBD2 Request/Response Summary

PID	Request	Response Example	Value
0x04	`7DF 02 01 04`	`7E8 03 41 04 80`	50% load
0x05	`7DF 02 01 05`	`7E8 03 41 05 82`	90°C coolant
0x0C	`7DF 02 01 0C`	`7E8 04 41 0C 1F 40`	2000 RPM
0x0D	`7DF 02 01 0D`	`7E8 03 41 0D 78`	120 km/h
0x11	`7DF 02 01 11`	`7E8 03 41 11 40`	25% throttle
0x2F	`7DF 02 01 2F`	`7E8 03 41 2F 80`	50% fuel
0x5C	`7DF 02 01 5C`	`7E8 03 41 5C 96`	110°C oil

UDS Request/Response Summary

ECU	PID	Request	Response Example	Value
Engine	0x202A	`7E0 03 22 20 2A`	`7E8 05 62 20 2A 07 D0`	200 kPa boost
Engine	0x437C	`7E0 03 22 43 7C`	`7E8 05 62 43 7C 0D AC`	350 Nm torque
Engine	0x10C0	`7E0 03 22 10 C0`	`7E8 05 62 10 C0 04 00`	λ=1.0
Cluster	0x22D1	`714 03 22 22 D1`	`77E 05 62 22 D1 1F 40`	2000 RPM
DSG	0x3816	`7E1 03 22 38 16`	`7E9 04 62 38 16 06`	3rd gear
DSG	0x3815	`7E1 03 22 38 15`	`7E9 04 62 38 15 03`	Drive mode

16 KiB Raw Blame History

ECU Emulator Specification

Общие сведения

OBD2 Protocol (Mode 0x01)

Формат запроса

Формат ответа

OBD2 PIDs — Полная спецификация

PID 0x00 — Supported PIDs [01-20]

PID 0x04 — Engine Load

PID 0x05 — Coolant Temperature

PID 0x0C — Engine RPM

PID 0x0D — Vehicle Speed

PID 0x0F — Intake Air Temperature

PID 0x10 — MAF Air Flow Rate

PID 0x11 — Throttle Position

PID 0x20 — Supported PIDs [21-40]

PID 0x2F — Fuel Tank Level

PID 0x40 — Supported PIDs [41-60]

PID 0x5C — Oil Temperature

UDS Protocol (Mode 0x22)

Формат запроса

Формат ответа

Negative Response

UDS PIDs — Engine ECU (0x7E0 → 0x7E8)

PID 0x202A — Boost Pressure Actual

PID 0x2029 — Boost Pressure Target

PID 0xF423 — Fuel Rail Pressure

PID 0x10C0 — Lambda Actual

PID 0x1456 — Lambda Target

PID 0x437C — Torque Actual

PID 0x39A2 — Wastegate Position Actual

PID 0x39A3 — Wastegate Position Target

PID 0x2004 — Ignition Timing

PID 0x200A-0x200D — Timing Correction Cylinders 1-4

UDS PIDs — Instrument Cluster (0x714 → 0x77E)

PID 0x22D1 — RPM from Cluster

PID 0x224D — Ambient Light Sensor

UDS PIDs — DSG Transmission (0x7E1 → 0x7E9)

PID 0x3816 — Current Gear

PID 0x3815 — Gear Selector Position (PRNDM)

PID 0x1940 — Transmission Oil Temperature

Таблица быстрого референса

OBD2 Request/Response Summary

UDS Request/Response Summary

16 KiB

Raw Blame History