The purpose of this page is to document as much data channels on the CAN bus as possible. If your goal is to set up data logging in RaceChrono, there is a better alternative: https://github.com/timurrrr/RaceChronoDiyBleDevice/blob/master/can_db/ft86.md
The simplest way to access/use the CAN bus of these cars is to use pins 6 and 14 on the standard OBD-II port.
Besides the CAN pins in the OBD-II port, there is a CAN bus male port hidden behind the car multimedia head unit:
It's very close to the glovebox, which makes it great for putting your CAN reader in the glovebox. Such a placement makes sure it's out of the way and you won't accidentally hit it with your leg while on the track, and also allows quick access for troubleshooting and experimenting. There's also a second 12V port inside the glovebox, which makes it easy to use a 12V-to-USB adapter instead of adding a 12V-to-5V converter to your hardware design.
You can use the two middle pins of a Toyota radio harness to connect to the CAN bus in a reliable way.
It's recommended to use a ~60–90 cm (2–3') twisted pair cable between that port and your CAN reader.
Update frequency: 100 times per second.
0x18 is a strange CAN ID. Judging by the low CAN ID number (which in CAN networks
implies higher priority) and the high update frequency, one would expect it to
have some important data, like data for ABS or ESC systems. But based on what is
currently known, it only has one the steering angle as a useful data channel.
The steering angle graphs are usually relatively smooth, and this data is also
available over 0xD0, along with some much more important data, such as
accelerometers.
| Channel name | Equation | Notes |
|---|---|---|
| Steering angle | bytesToIntLe(raw, 0, 2) * 0.1 |
Also available in 0xD0 |
| ??? | C or bytesToIntLe(raw, 2, 1) |
The value is 112 most of the time for me |
| ??? | D or bytesToIntLe(raw, 3, 1) |
0–14 sawtooth |
| ??? | E or bytesToIntLe(raw, 4, 1) |
The value is 0 most of the time for me |
| ??? | F or bytesToIntLe(raw, 5, 1) |
The value is 0 most of the time for me |
| ??? | G or bytesToIntLe(raw, 6, 1) |
The value is 0 most of the time for me |
| ??? | H or bytesToIntLe(raw, 7, 1) |
Strange data channel. It changes in a strange way when the car turns. It also has a 0-14 sawtooth over some otherwise smooth curve. |
Update frequency: 50 times per second.
| Channel name | Equation | Notes |
|---|---|---|
| Steering angle | bytesToIntLe(raw, 0, 2) * -0.1 |
Positive value = turning left. You can add a - if you prefer it the other way around. Also available in 0x18. |
| Yaw rate | bytesToIntLe(raw, 2, 2) * -0.286478897 |
The multiplier for º/sec appears to be ((90 / pi) * 100). Or is this "yaw rate"?.. |
| ??? | E |
Some flags? |
| ??? | F |
Some flags? |
| Lateral acceleration | bytesToIntLe(raw, 6, 1) * 0.2 |
|
| Longitudinal acceleration | bytesToIntLe(raw, 7, 1) * -0.1 |
|
| Combined acceleration | sqrt(pow2(bytesToIntLe(raw, 6, 1) * 0.2) + pow2(bytesToIntLe(raw, 7, 1) * 0.1)) |
Update frequency: 50 times per second. Length: 4 bytes
| Channel name | Equation | Notes |
|---|---|---|
| Speed | bytesToIntLe(raw, 0, 2) * 0.015694 |
May want to check the multiplier against an external GPS device |
| Brake position | min(C / 0.7, 100) |
The third byte is the pressure in the brake system, in Bars. The 0.7 divider seems to be a good value to get 100% at pressure slightly higher than those you're likely to use on the track for cars with no aero. You can use 0.8 or 0.9 if you see 100% too often. |
| ??? | D | Always 0? |
Update frequency: 50 times per second.
| Channel name | Equation | Notes |
|---|---|---|
| Wheel speed FL | bytesToIntLe(raw, 0, 2) * 0.015694 |
Use same multiplier as for speed in 0xD1 |
| Wheel speed FR | bytesToIntLe(raw, 2, 2) * 0.015694 |
Use same multiplier as for speed in 0xD1 |
| Wheel speed RL | bytesToIntLe(raw, 4, 2) * 0.015694 |
Use same multiplier as for speed in 0xD1 |
| Wheel speed RR | bytesToIntLe(raw, 6, 2) * 0.015694 |
Use same multiplier as for speed in 0xD1 |
Update frequency: 100 times per second.
| Channel name | Equation | Notes |
|---|---|---|
| Accelerator position | A / 2.55 |
|
| Clutch position | (B & 0x80) / 1.28 |
On/off only |
| ??? | B & 0x70 | Unused? |
| ??? | B & 0x0f | 0–15 counter? |
| Engine RPM | bitsToUIntLe(raw, 16, 14) |
|
| ??? | D & 0x80 |
Always 0? |
| ??? | D & 0x40 |
1 when accelerator pedal is released, 0 otherwise |
| Accelerator position | E / 2.55 |
Not clear what's the difference from the other two |
| Accelerator position | F / 2.55 |
Not clear what's the difference from the other two |
| Throttle position | G / 2.55 |
Not tested |
| ??? | H | Some flags |
Update frequency: 100 times per second.
| Channel name | Equation | Notes |
|---|---|---|
| Accelerator pedal position? | bytesToIntLe(raw, 0, 2) |
Follows A from 0x140 closely with ~9860 for 0% and ~11625 for 42%. Needs more testing. |
| Engine load? | bytesToIntLe(raw, 2, 2) |
Follows the data from OBD-II PIDs 0x4 and 0x43 pretty well. |
| Engine RPM | bitsToUIntLe(raw, 32, 14) |
|
| ??? | F & 0x80 |
1 when accelerator pedal is released, 0 otherwise |
| ??? | F & 0x40 |
Always 0? |
| Gear | (G & 0xf) * (1 - (min(G & 0xf, 7)) / 7) |
It's basically just G & 0xf but neutral is reported as 7, hence the complex math to turn it into a 0. The reverse gear is reported as 1. The value can be wrong when the clutch pedal is depressed. |
| ??? | G & 0xF0 |
I saw values of 128, 160, 192 here. |
| ??? | H |
Equals to 16 when I lift off the accelerator, then turns to 8, then 0. |
Update frequency: 50 times per second.
| Channel name | Equation | Notes |
|---|---|---|
| Brake pedal pressed | (G & 8) / 8 |
Update frequency: 50 times per second.
| Channel name | Equation | Notes |
|---|---|---|
| Hand brake on | (G & 8) / 8 |
|
| Brake pedal pressed | (G & 16) / 16 |
Update frequency: ~16 times per second.
| Channel name | Equation | Notes |
|---|---|---|
| Seatbelt plugged in | (F & 1) == 0 |
Only tested driver's side seatbelt. Passenger side might use a different flag or the same flag. |
Update frequency: 20 times per second.
| Channel name | Equation | Notes |
|---|---|---|
| Engine oil temperature | C - 40 |
|
| Coolant temperature | D - 40 |
|
| Cruise control ON | (F & 16) / 16 |
Means the mode is "On", but not necessarily "Set". Not tested much. |
| Cruise control set | (F & 32) / 32 |
Not tested much. |
| Cruise control speed | H |
In the same unit as the current speed display units? Not tested much. |
Update frequency: 20 times per second.
| Channel name | Equation | Notes |
|---|---|---|
| Gear | A & 0x7 | Not tested |
Update frequency: 1 time per second.
| Channel name | Equation | Notes |
|---|---|---|
| Driver's door open | D & 1 |
Tested on a RHD car. The equation for driver and passenger door open might be swapped for LHD cars. |
| Passenger's door open | (D & 2) / 2 |
Tested on a RHD car. The equation for passenger and driver door open might be swapped for LHD cars. |
| Fog lights on | (B & 128) / 128 |
Flag is only set when the main lights are on (parking or full). |
| Boot open | (D & 32) / 32 |
Update frequency: 1 time per second.
| Channel name | Equation | Notes |
|---|---|---|
| Driver's door open | B & 1 |
Tested on a RHD car. The equation for driver and passenger door open might be swapped for LHD cars. |
| Passenger's door open | (B & 2) / 2 |
Tested on a RHD car. The equation for passenger and driver door open might be swapped for LHD cars. |
| Boot open | (B & 32) / 32 |
|
| Either door open | (D & 4) / 4 |
Only flagged when either door is open. Not flagged for the boot. |
| Lights on | (D & 8) / 8 |
Flag is set for both parking lights and full lights. |
TODO: would be great to find how to read the ambient temperature, and maybe the intake temperature.
TODO: find how to log the fuel remaining.
Here's what the distribution of CAN IDs looks like in the CAN bus while idling in a parking lot:
| CAN ID (hex) | CAN ID (decimal) | Number of packets received over a 10 second period |
|---|---|---|
| 0x18 | 24 | 1000 |
| 0xD0 | 208 | 500 |
| 0xD1 | 209 | 500 |
| 0xD2 | 210 | 500 |
| 0xD3 | 211 | 500 |
| 0xD4 | 212 | 500 |
| 0x140 | 320 | 1000 |
| 0x141 | 321 | 1000 |
| 0x142 | 322 | 1000 |
| 0x144 | 324 | 500 |
| 0x152 | 338 | 500 |
| 0x156 | 342 | 500 |
| 0x280 | 640 | 500 |
| 0x282 | 642 | 167 |
| 0x284 | 644 | 100 |
| 0x360 | 864 | 200 |
| 0x361 | 865 | 200 |
| 0x370 | 880 | 200 |
| 0x372 | 882 | 100 |
| 0x374 | 884 | 10 |
| 0x375 | 885 | 10 |
| 0x37A | 890 | 10 |
| 0x3D1 | 977 | 84 |
| 0x440 | 1088 | 25 |
| 0x442 | 1090 | 25 |
| 0x44D | 1101 | 25 |
| 0x46C | 1132 | 25 |
| 0x4C1 | 1217 | 10 |
| 0x4C3 | 1219 | 10 |
| 0x4C6 | 1222 | 10 |
| 0x4C8 | 1224 | 10 |
| 0x4DC | 1244 | 10 |
| 0x4DD | 1245 | 10 |
| 0x63B | 1595 | 20 |
| 0x6E1 | 1761 | 10 |
| 0x6E2 | 1762 | 10 |
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