Bosch ABS M4 - CAN Protocol Definitions

CAN Protocol
Name Message Startbit Length (Bit) Byte Order Value Type Initial Value
PSIP1 (Yaw) 0x70 0 16 Intel Unsigned ‐163,84
AY1 0x70 32 16 Intel Unsigned ‐4,1768
PSIPP (YawAcc) 0x80 0 16 Intel Unsigned ‐4096
AX1 0x80 32 16 Intel Unsigned ‐4,1768
WS_FL 0x24A 0 16 Intel Unsigned 0
WS_FR 0x24A 16 16 Intel Unsigned 0
WS_RL 0x24A 32 16 Intel Unsigned 0
WS_RR 0x24A 48 16 Intel Unsigned 0
SwitchState 0x5C0 0 Intel Unsigned 0
P_Hz 0x5C0 8 16 Intel Signed 0
BLS 0x5C0 24 1 Intel Unsigned 0
EBD Lamp 0x5C0 30 1 Intel Unsigned 0
ABS Active 0x5C0 29 1 Intel Unsigned 0
ABS Lamp 0x5C0 31 1 Intel Unsigned 0
AX1_Bremse60 0x5C0 32 16 Intel Unsigned ‐4,1768
AY1_Bremse60 0x5C0 48 16 Intel Unsigned ‐4,1768
Continuation:
Name
Factor Offset Min Max Unit Rate (ms) Comment
PSIP1 (Yaw) 0,005 ‐163,84 ‐163,84 ‐163,83 °/s 10 Yaw Rate
AY1 0,00012742 ‐4,1768 ‐4,1768 ‐4,1765 g 10 Lateral Acceleration (Ay)
PSIPP (YawAcc) 0,125 ‐4096 ‐4096 ‐4095 °/s 10 Yaw Acceleration
AX1 0,00012742 ‐4,1768 ‐4,1768 ‐4,1765 g 10 Longitudinal Acceleration (Ax)
WS_FL 0,015625 0 0 100 m/s 10 Wheel Speed Front Left
WS_FR 0,015625 0 0 100 m/s 10 Wheel Speed Front Right
WS_RL 0,015625 0 0 100 m/s 10 Wheel Speed Rear Left
WS_RR 0,015625 0 0 100 m/s 10 Wheel Speed Rear Right
SwitchState 1 0 0 12 10 ABS Map Switch Position
P_Hz 0,0153 0 ‐42,5 425 bar 10 Brake Pressure
BLS 1 0 0 1 Brake Light Switch
EBD Lamp 1 0 0 1 EBD Fault Lamp
ABS Active 1 0 0 1 ABS Active Bit
ABS Lamp 1 0 0 1 ABS Fault Lamp
AX1_Bremse60 0,00012742 ‐4,1768 ‐4,1768 ‐4,1765 g 10 Longitudinal Acceleration (Ax)
AY1_Bremse 0,00012742 ‐4,1768 ‐4,1768 ‐4,1765 g 10 Lateral Acceleration (Ay)
10.2
10 | Appendix
40 / 54 ABS M4 Manual Bosch Motorsport