Hands-On: HIL Bench Setup

# HIL Bench Wiring Checklist -- ABS ECU

## Power
[x] 12V power supply connected to ECU pin A1 (KL30)
[x] Ground connected to ECU pin A2 (KL31)
[x] Ignition (KL15) connected to HIL digital output DIO_01 (active high = 12V)
[x] Power supply set to 13.5V; current limit 5A

## CAN Bus
[x] CAN_H and CAN_L connected between ECU and HIL bus interface
[x] 120-ohm termination at ECU connector end confirmed
[x] HIL bus interface terminated at its end (120-ohm jumper installed)
[x] CAN baud rate set to 500 kbit/s in CANoe/ECU-TEST database

## Wheel Speed Sensors (VRS differential)
[x] WSS_FL+/- connected to HIL FPGA encoder output channels 1+/1-
[x] WSS_FR+/-, WSS_RL+/-, WSS_RR+/- on channels 2, 3, 4
[x] Differential output amplitude: 0.5V / 1.5V (per VRS spec)
[x] Encoder teeth count: 48 teeth/revolution per wheel

## Brake Pressure Sensors
[x] Brake MC pressure: DAC CH1 --> signal conditioning --> ECU pin B5
[x] Conditioning: +/-10V DAC --> 0.5-4.5V (divider + offset)
[x] 4x individual wheel pressure sensors on DAC CH2-5

## Actuators (HIL reads back)
[x] ABS solenoid output --> 100-ohm load --> ADC CH1 (current)
[x] Pump motor output --> inductive load (0.5 mH + 1 ohm) --> ADC CH2
[x] Brake light output --> LED load (10 ohm + LED) --> digital input DIO_10

#!/usr/bin/env python3
# First communication check: verify ECU is alive on CAN bus

import can, time

def first_comm_check(channel="PCAN_USBBUS1", bitrate=500_000):
    bus = can.interface.Bus(channel, bustype="pcan", bitrate=bitrate)

    print("[1] Powering ECU...")
    time.sleep(0.5)   # wait for ECU startup

    print("[2] Listening for ECU startup messages (3s)...")
    startup_ids = set()
    t_end = time.time() + 3.0
    while time.time() < t_end:
        msg = bus.recv(timeout=0.1)
        if msg:
            startup_ids.add(msg.arbitration_id)
            print(f"  Rx: ID=0x{msg.arbitration_id:03X} data={msg.data.hex()}")

    if not startup_ids:
        print("  ERROR: No CAN messages -- check power, wiring, termination")
        return False

    print("[3] Sending UDS TesterPresent...")
    tp = can.Message(
        arbitration_id=0x7DF,
        data=[0x02, 0x3E, 0x00, 0xCC, 0xCC, 0xCC, 0xCC, 0xCC],
        is_extended_id=False)
    bus.send(tp)
    resp = bus.recv(timeout=0.5)
    if resp and resp.data[1] == 0x7E:
        print(f"  OK: ECU responded (ID=0x{resp.arbitration_id:03X})")
    else:
        print("  WARNING: No UDS response (check UDS address)")
    bus.shutdown()
    return True

first_comm_check()