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Posted: **Mon May 19, 2025 1:07 pm**

1. Wire Connections

Yellow = Ignition (12V)
Yellow/Black = CAN High
Yellow/Brown = CAN Low
CAN bus speed = 500 kbps

2. Send Required CAN Messages

Mandatory messages:

0x130 (Terminal status) every 100ms
Example: 0x45 0x41 0x21 0x8F 0x24

0x1A0 (Vehicle speed — affects assist level) every 50ms
Example: 0x00 0x80 0x00 0x00 0x80 0x00 0x78 0x1B

0x1D0 (Engine run) every 50ms
Example: 0x61 0xFF 0x6E 0xD2 0x24 0x78 0xCC 0xA4

3. Vehicle Speed Message 0x1A0

The first byte (data[0]) seems to influence assist (e.g., 0x00 = light steering, 0xFF = heavy).

Second byte (0x80 at rest, 0xB0 when moving) to signal movement state.

Posted: **Mon May 26, 2025 1:09 pm**

tom91 wrote: ↑Wed May 07, 2025 4:16 pm Static values do not work.

how can i simulate like car cruising 100km ?

Posted: **Mon May 26, 2025 1:13 pm**

mane2 wrote: ↑Mon May 19, 2025 1:07 pm 1. Wire Connections

Yellow = Ignition (12V)
Yellow/Black = CAN High
Yellow/Brown = CAN Low
CAN bus speed = 500 kbps

2. Send Required CAN Messages

Mandatory messages:

0x130 (Terminal status) every 100ms
Example: 0x45 0x41 0x21 0x8F 0x24

0x1A0 (Vehicle speed — affects assist level) every 50ms
Example: 0x00 0x80 0x00 0x00 0x80 0x00 0x78 0x1B

0x1D0 (Engine run) every 50ms
Example: 0x61 0xFF 0x6E 0xD2 0x24 0x78 0xCC 0xA4

3. Vehicle Speed Message 0x1A0

The first byte (data[0]) seems to influence assist (e.g., 0x00 = light steering, 0xFF = heavy).

Second byte (0x80 at rest, 0xB0 when moving) to signal movement state.

i will try and reply thanks

Posted: **Mon May 26, 2025 1:48 pm**

mengu190 wrote: ↑Mon May 26, 2025 1:09 pm how can i simulate like car cruising 100km ?

Check @mane2post and the other information in this thread

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