Alexander Poletaev
2ec05d2e9d
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>
3.9 KiB
3.9 KiB
UDS Protocol Support
Эмулятор поддерживает UDS (Unified Diagnostic Services) протокол согласно ISO 14229.
Поддерживаемые ECU
| ECU | Request ID | Response ID | Описание |
|---|---|---|---|
| Engine ECU | 0x7E0 | 0x7E8 | Блок управления двигателем |
| DSG Transmission | 0x7E1 | 0x7E9 | Коробка передач DSG |
| Instrument Cluster | 0x714 | 0x77E | Приборная панель |
Формат запроса
CAN ID: Request ID ECU
Data: [03, 22, PID_H, PID_L, 55, 55, 55, 55]
│ │ └───┴── Data Identifier (DID)
│ └────────── Service 0x22 (Read Data By ID)
└────────────── Length: 3 bytes
Формат ответа
Положительный ответ
CAN ID: Response ID ECU
Data: [Length, 62, PID_H, PID_L, DataA, DataB, ...]
│ └───┴── Data Identifier
└────────── Service 0x62 (positive response)
Отрицательный ответ
CAN ID: Response ID ECU
Data: [03, 7F, 22, ErrorCode, 00, 00, 00, 00]
│ │ └── Error code (0x31 = Request Out of Range)
│ └────── Service that failed
└────────── Negative Response Indicator
Поддерживаемые DIDs
Engine ECU (0x7E0 → 0x7E8)
| DID | Название | Формула | Единицы | Диапазон |
|---|---|---|---|---|
| 0x202A | Boost Pressure Actual | (A*256+B) * 0.1 | kPa | 0-400 |
| 0x2029 | Boost Pressure Target | (A*256+B) * 0.1 | kPa | 0-400 |
| 0xF423 | Fuel Rail Pressure | (A*256+B) * 10 | kPa | 0-25000 |
| 0x10C0 | Lambda Actual | (A*256+B) * 0.000977 | λ | 0.5-2.0 |
| 0x1456 | Lambda Target | (A*256+B) * 0.000977 | λ | 0.5-2.0 |
| 0x437C | Torque Actual | (A*256+B) * 0.1 | Nm | 0-500 |
| 0x39A2 | Wastegate Actual | (A*256+B) * 0.01 | % | 0-100 |
| 0x39A3 | Wastegate Target | (A*256+B) * 0.01 | % | 0-100 |
| 0x2004 | Ignition Timing | signed(A*256+B) * 0.01 | ° | -10 to 50 |
| 0x200A | Timing Correction Cyl1 | signed(A*256+B) * 0.01 | ° | -15 to 5 |
| 0x200B | Timing Correction Cyl2 | signed(A*256+B) * 0.01 | ° | -15 to 5 |
| 0x200C | Timing Correction Cyl3 | signed(A*256+B) * 0.01 | ° | -15 to 5 |
| 0x200D | Timing Correction Cyl4 | signed(A*256+B) * 0.01 | ° | -15 to 5 |
DSG Transmission (0x7E1 → 0x7E9)
| DID | Название | Формула | Значения |
|---|---|---|---|
| 0x3816 | Current Gear | Lookup | 0x00=N, 0x0C=R, 0x02=1, 0x04=2, 0x06=3, 0x08=4, 0x0A=5, 0x0E=6, 0x10=7 |
| 0x3815 | Gear Selector | Lookup | 0=P, 1=R, 2=N, 3=D, 4=S, 5=M |
| 0x1940 | Trans Oil Temp | A - 40 | °C (-40 to 150) |
Instrument Cluster (0x714 → 0x77E)
| DID | Название | Формула | Единицы |
|---|---|---|---|
| 0x22D1 | RPM | (A*256+B) / 4 | RPM |
| 0x224D | Ambient Light | A | 0-255 (0=dark, 255=bright) |
Примеры
Запрос Boost Pressure
TX: 7E0 [03 22 20 2A 55 55 55 55]
RX: 7E8 [05 62 20 2A 07 D0 00 00] → 0x07D0 = 2000 → 200.0 kPa
Запрос Current Gear (3rd)
TX: 7E1 [03 22 38 16 55 55 55 55]
RX: 7E9 [04 62 38 16 06 00 00 00] → 0x06 = 3rd gear
Запрос неподдерживаемого DID
TX: 7E0 [03 22 FF FF 55 55 55 55]
RX: 7E8 [03 7F 22 31 00 00 00 00] → Negative response: Request Out of Range
Тестирование
Используйте скрипт scripts/test_uds.py:
python scripts/test_uds.py --interface vcan0
Опции:
--engine- тестировать только Engine ECU--dsg- тестировать только DSG--cluster- тестировать только Instrument Cluster