# Interceptor Core
**WARNING: RESEARCH USE ONLY**
Interceptor Core is a development tool designed for use in research settings and on closed courses only. This device is capable of commanding either a vehicle's electric power steering or acceleration by intercepting and injecting signals from the torque or accelerator pedal sensors. Misuse of this device, including on public roads, could result in unintended steering or acceleration inputs, loss of vehicle control, serious injury, or property damage.
By using this product, you acknowledge and accept these risks. RetroPilot is not liable for any damages, injuries, or losses arising from the use or misuse of this product. The user assumes all responsibility for safe operation.
## Introduction
Interceptor Core is a device that allows you to control arbitrary analog sensors via CAN. It contains two ADC inputs, two DAC outputs, and a relay that physically connects the sensor back to the ECU when not being commanded. Interceptor Core is designed to allow for control of electronic throttles by intercepting the gas pedal and electric power steering by intercepting the torque sensor.
## Features
#### Power & IO
* **12V input**
* **5V\_SENS** input for biasing DAC using ECU's sensor voltage rail
* **5V output** for biasing DAC using onboard linear regulator
* **2x ADC inputs**
* **2x DAC outputs**
* **CAN input** for receiving commands and sending status output
#### Tools & Compatibility
* **USB-C port** for firmware flashing, configuration, and debugging
* **Open Source:** The firmware for Chimera is completely Free and Open-Source Software (FOSS) and available on GitHub, giving you full transparency and control.
## Hardware Overview
Before beginning installation, you'll want to be familiar with the hardware and components of Interceptor Core. Below is a breakdown of the main connection points.
### Power
* **12V input:** Connect this to a **switched** **12VR** output on Chimera. This allows Chimera to disconnect Interceptor Core in case of a fault
### IO and Analog
* **5V\_SENS:** If the sensor reference voltage is 5V, connect it to this terminal
* **5V:** If the sensor ref voltage is higher than 5V, connect this to 5V\_SENS
* **GND:** Connect to the grounds from the sensor and the ECU
* **OUT1 and OUT2:** connect to the sensor inputs going into the ECU
* **IN1 and IN2:** connect to the sensor outputs coming out of the sensor
### Installation:
Installation procedures will vary based on the vehicle and the application in which Interceptor Core is being used. In general, it's a matter of connecting 5V\_SENS to the sensor voltage reference, IN1 and IN2 to the sensor outputs, OUT1 and OUT2 to the respective ECU inputs, and GND to the sensor ground. After probing your sensor's pins with an oscilloscope to validate the sensor lines and the reference voltage line, it can be connected as in the diagram below. If the voltage reference is greater than 5 volts, add a small wire between 5V and 5V sens instead.
Note: often, EPS torque sensor lines will not be specifically documented in the car's repair manual. You will likely need to probe the lines with a scope and find the corresponding sensor and reference voltage lines. Additionally, male and female connectors should be sourced or 3D printed to build a harness for Interceptor Core. Please refer again to the disclaimer at the beginning of this page if you are using Interceptor Core in this fashion.
Below is a rough diagram of how you will install Interceptor Core into the vehicle. Please consult with your vehicle's Repair Manual to find the wiring diagram for your specific vehicle.
As you can see from the image, sensor lines are intercepted, while GND and 5V\_SENS are tapped.
Once installation is completed, use the USB-C port to flash firmware to the board and configure the settings.
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