Citroen Cactus 2014: Specs & Review

Hello everyone,

I'm currently working on a private project and want to "upgrade" my Citroën Cactus in conjunction with the NVIDIA Drive PX Devkit. I have some experience in the automotive field, but now I need information about CAN IDs (messages) and the signals contained within them, in addition to the gateways I already have.

Currently, I am interested in:

- Signals for lane departure warnings, and specifically, the direction of the lane departure.
- Engine speed
- Vehicle speed
- Wheel speed sensors.

I have all the necessary equipment to record and manipulate signals. I would just like to simplify my work and perhaps know directly which signals I need to focus on.

Maybe someone has an idea.

Best regards,
Milk circle.

Unfortunately, I can't help you with the specific signals. However, I'm quite surprised that a DrivePx can even be used in a PSA vehicle.

Normally, Px systems rely on a common platform, and I wasn't aware that Citroen is now a development partner of Nvidia.

Regardless, for your Kit, you should have received a FiBex file, which contains the communication data (parameters, PDUs, signal groups, etc.). While there won't be a suitable file specifically for a Cactus (as it's too old), the signal descriptions and positions might still be applicable.

@postman:

Since this is not a project involving production software applications (PSA), I don't have access to any ARXML (ECU extract/K-matrix) or XML (Fibex) files, which is why I am asking.

You can use reverse engineering to figure out which part of a message conveys what, but maybe there's a shorter way to do it.

I'm more familiar with the Daimler/VW environment, where similar documentation has existed for a while, and I suspect something similar might be available for the Cactus as well. After all, someone must have planned the communication. Whether or not one should adhere to AUTOSAR standards, someone still had to develop the communication stack. Since integrity checks of messages (SecOC) will only be implemented with the introduction of AUTOSAR 4.3, manipulating individual messages on the CAN bus shouldn't pose a major problem.

I was wondering if anyone knows of a section in this forum that describes which parts of the CAN bus are used for things like the EPS (Electric Power Steering), or perhaps some common signals with their corresponding CAN IDs, to save me some work. If the Cactus isn't suitable, I'll have to investigate further. Otherwise, it might be better to go with a VW.

If your board is not compatible with the PSA (Platform Security Architecture), you won't be able to use it anyway. This board works with Adaptive AUTOSAR, and for that, you need the corresponding system descriptions.

In addition to SecOC, E2E, and the interfaces (CAN, FlexRay, Ethernet), you also need the system descriptions for the cores. I think the first challenge will be getting the board up and running. I come from the Daimler side of things, so I have experience with NVIDIA systems. Have you managed to get it out of boot mode yet?

What exactly do you want to achieve with the PX?