I was working on my ABS unit and I noticed two things.
Battery voltage is reported as 10.8V instead of 12.5V (I see this value in other ECUs and also if I connect with ABS 8 (I know different version, but it connects and reports most of the parametres correctly))
Latteral acceleration sensor jumps between 0.192m/s^2 and 0.384m/s^2 when car is stationary, it should read 0... I guess (if I connect to the ABS ECU with ABS 8 this parameter shows numbers much closer to 0).
I hope you will be able to check those two things.