---
active: true
derived: false
header: 'Sensor cluster'
level: 1.3
normative: true
reviewed: null
links:
  - SYS-005
  - SYS-006
  - SYS-007
asil: B
---

# SA-003: Sensor cluster

## Responsibility

Summary of all input signals required by the EPB: wheel-speed
sensors (4x), inclinometer (1x), EPB switch, brake-pedal status,
gear position, door open, seatbelt — the last four via CAN.

## Interfaces

| Sensor          | Type         | Source     |
|-----------------|--------------|------------|
| Wheel speed x4  | Hall pulses  | direct     |
| Inclinometer    | SPI 1 kHz    | direct     |
| EPB switch      | GPIO         | direct     |
| Brake pedal     | CAN 0x100    | from BCM   |
| Gear            | CAN 0x110    | from TCU   |
| Door / belt     | CAN 0x120    | from BCM   |

## Non-functional properties

- Wheel-speed accuracy: +/- 0.1 km/h above 1 km/h
- Inclinometer accuracy: +/- 0.5°
- Inclinometer sampling rate: 100 Hz