Automotive::CAN bus

Links

• Readers and diagnostic tools: http://www.obdreaders.com
• OpenCAN
• Enable CAN in Linux
• Texas Instruments
• devCan CAN Bus Device Support
• ElmScan 5 Compact USB OBD-II Scan Tool
• 3130 Innova Diagnostic Code Scanner with Live Record and Playback Data Capability
• VCDS Extentions and Plugins

Electronics

ELM electronics (the roots) a lot of links about CAN

OBD

OBDPro (recommended)

OBD AllinOne (recommended)

OBD Tools shop

ProScan

Diagnostic Software

PICO Car Diagnostics

OBD2 hacking

OBD-II NETWORK STANDARDS

EASE Diagnostics

Diagnostic Codes

CAN

www.mikrocontroller.net	A lot of useful information
totalphase.com	CAN/I2C Activity Board Pro
Computer Solutions Ltd	CAN devices and development tools
Computer Solutions Ltd	CAN product
Peak Systems	CAN products
Elektronik und Roboterbau	CAN debugger
Olimex	bridge between UART and CAN networks
mictronics	USB <> CAN bus interface

Five Communications Protocols

There are five protocols in use with the modern OBD-II interface, and often it is possible to confirm the protocol in use based on which pins are present on the J1962 connector. One way to confirm is via manufacturer: The sure way is to remove and inspect the DLC using a wiring schematic.

ISO 9141 – ISO 14230 – ISO 15765 – ISO 9141-2

This protocol has a data rate of 10.4 kbaud, and is similar to RS-232.

ISO 9141-2 is primarily used in Chrysler, European, and Asian vehicles.

pin 7: K-line

pin 15: L-line (optional and referred to as “dual K” line)

UART signaling (though not RS-232 voltage levels)

K-line idles high

High voltage is Vbatt

Message length is restricted to 12 bytes, including CRC

ISO 15765 CAN

(250kbit/sec or 500kbit/sec)

pin 6: CAN High

pin 14: CAN Low

ISO 14230 KWP2000

(Keyword Protocol 2000) used by most European and Asian manufacturers.

Alfa Romeo, Audi, BMW, Citroen, Fiat, Honda, Hyundai, Jaguar (X300, XK),Jeep since 2004, Kia, Land Rover, Mazda, Mercedes, Mitsubishi, Nissan, Peugeot, Renault, Saab, Skoda, Subaru, Toyota, Vauxhall, Volkswagen (VW) since 2001, Volvo to 2004

pin 7: K-line

pin 15: L-line (optional and referred to as “dual K” line)

Physical layer identical to ISO 9141-2

Data rate 1.2 to 10.4 kbaud

Message may contain up to 255 bytes in the data field

FORD Motor Company - SAE J1850 PWM

(41.6 kbaud, Standard of the Ford Motor Company)

pin 2: Bus-

pin 10: Bus+

High voltage is +5V

Message length is restricted to 12 bytes, including CRC

Employs a multi-master arbitration scheme called "Carrier Sense Multiple Access with Non-Destructive Arbitration" (CSMA/NDA)

General Motors SAE J1850 VPW

(Variable Pulse Width) (10.4/41.6 kbaud, standard of General Motors)

pin 2: Bus+

Bus idles low

High voltage is +7V

Decision point is +3.5V

Message length is restricted to 12 bytes, including CRC Employs CSMA/NDA

Note that pins 4 (battery ground) and 16 (battery positive) are present in all configurations. Also, ISO 9141 and ISO 14230 use the same pinout, therefore you cannot distinguish between the two simply by examining the connector. CAN bus used in VW, Audi, BMW, Mercedes, Ford, Mazda Volvo, etc., etc., etc. since 2004 (some earlier, some later). The CAN protocol will become the standard of the automotive industry. By 2008, all vehicles sold in Canada and the US will be required to implement the CAN bus, consequently eliminating the uncertainty of the existing five signaling protocols.

Schnittstellen-Typ	Hersteller
J1850 PWM	Ford*, Lincoln, Mercury, Jaguar, Mazda, Panoz, Saleen
J1850 VPW	Opel, Buick, Cadillac, Chevrolet, Chrysler, Dodge, GMC, Hummer, Isuzu, Oldsmobile, Pontiac, Saturn
ISO 9141-2	Asiatische Hersteller (Acura, Honda, Infinity, Lexus, Nissan, Toyota* u.a.), europäische Hersteller (VW/Audi, BMW, Mercedes, MINI, Porsche u.a.), ältere Chrysler-Modelle, Dodge, Eagle, Plymouth
KWP2000	Daewoo, Hyundai, KIA, Subaru STi und einige Mercedes
*Ausnahmen	J1850VPW benutzen auch Concorde, Intrepid, LHS und 300M aus Baujahr 1998 und später, Neon aus Baujahr 2000 und später, Toyota aus Baujahren 1996-97, alle Toyota Celica und Toyota Supra Turbo aus Baujahren 1996-99. ISO 9141-2 benutzen auch der Probe 2,5L aus Baujahr 1996-97, Tracer 1.8L aus Baujahr 1996, Ford Escort 1.8L aus Baujahr 1996, Triumph, Geo, Catera, Paseo aus Baujahr 1997, Camry und Avalon.

Pin	Signal	Description
1	-
2	J1850	Bus+
3	-
4	CGND	GND
5	SGND	GND
6	CAN High	J-2284
7	ISO 9141-2	K-LINE Tx/Rx
8	-
9	-
10	J1850 Bus-
11	Ford DCL (-) Argentina, Brazil	pre OBD-II 1997-2000
12	-
13	-
14	CAN Low	J-2284
15	ISO 9141-2	L-LINE Tx/Rx
16	+12v	Battery power

Linux CAN bus support

Peak System Linux

USB by ID

08d8  IXXAT Automation GmbH
	0002  USB-to-CAN compact
	0003  USB-to-CAN II
	0100  USB-to-CAN

093c  Intrepid Control Systems, Inc.
	0601  ValueCAN
	0701  NeoVI Blue vehicle bus interface

0bfd  Kvaser AB
	0004  USBcan II
	000b  Leaf Light HS
	000e  Leaf SemiPro HS

Table of CAN bus viehecles

Alfa Romeo	159 JTD ab 2005 Brera ab 2006 Mito ab 2006 Giulietta ab 2011 Spider ab 2006
AUDI	A1 ab 2010 A2 2001-2005 A3 ab 2005 A3 Sportback ab 2004 A4 bis 2003 A4 ab 2004 A5 ab2007 A6 ab 2005 A7 ab 2010 A8 ab 2006 Q3 ab 2011 Q5 ab 2007 Q7 ab 2006 S5 ab 2007 TT ab 2005
BMW	Serie 1 E97 ab 2005 Serie 1 F20 ab 2011 Serie 3 E90/E91 ab 2005 Serie 5 E60/E61 2004-07 Serie 5 F10/F11 ab 2010 Serie 6 E63/E64 ab 2006 Serie 6 F12/F13 ab 2011 X1 E84 ab 2009 X3 F25 ab 2009 X5 E70 ab 2007 X6 E71 ab 2008
Chevrolet	Aveo ab 2011 Captiva ab 2007 Cruze 2009 Orlando ab 2011
Chrysler	300C ab 2005 Gr.Voyoger ab 2008
Citroen	Berlingo ab 2006 C-Crosser ab 2007 C2 ab 2005 C3 ab 2005 C4 ab 2005 C5 ab 2004 C8 ab 2006 C-Crosser ab 2007 DS3 ab 2010 DS4 ab 2011 Jumper ab 2006 Jumpy ab 2006 Nemo ab 2008
Dodge	Caliber ab 2006 Journey ab 2008 Nitro ab 2007
Ferrari	612 Scaglietti ab 2008
Fiat	500 ab 2007 Bravo ab 2007 Croma ab 2005 Doplo ab 2010 Ducato ab 2006 Fiorino ab 2008 Freemont ab 2011 Grande Punto ab 2005 Idea ab 2005 Linea ab 2007 Panda ab 2003 Punto Evo ab 2009 Qubo ab 2008 Scudo ab 2001 Sedici ab 2006 Stilo ab 2006
Ford	Fiesta ab 2006 Focus alle Jahre Focus TDCI Focus C-MAX Fusion ab 2006 C-MAX 2003 KA ab 2009 Kuga ab 2008 Mondeo ab 2007 S-Max ab 2011 Tourneo Con ab 2009 Transit Con. ab 2009
Honda	Accord ab 2005 Civic ab 2006 Civic Hybrid ab 2007 CR-V ab 2006 Insight Hybrid ab 2009 Jazz ab 2008 Pilot ab 2008
Hyundai	Elantra ab 2011 IX20ab 2010 IX35 ab 2010 I40 ab 2011 Solaris ab 2011
Infinity	EX ab 2008 FX ab 2006 G35 ab 2007 M35 ab 2007 QX ab 2011
Iveco	Daily ab 2006
Jepp	Compass ab 2007 G.Cherokee ab 2005 Wrangler ab 2007
KIA	Carnival ab 2007 Ceed ab 2007 Sorento ab 2009 Sportage ab 2010 Venga ab 2010
Lancia	Delta ab 2008 Musa ab 2004 Y ab 2003
Landrover	Discovery 4 ab 2010 RangeRover ab 2006 Freelander2 ab 2007
Lexus	GS ab 2008 IS ab 2008 LS ab 2006 LX ab 2007
Mazda	2 ab 2007 3 ab 2009 6 ab 2008 MPV ab 2006-2008
Mercedes Benz	A-Klasse W169 ab 2005 B-Klasse W245 W 246 C-Klasse W203/W204 ab 2001 CLS W219 ab 2006 CLK W208 1999-2003 CLK W209 ab 2004 E-Klasse W210 1997-2003 E-Klasse W211 2004-2006 E-Klasse W212 ab 2009 G-Klasse W463 ab 2006 GLK W204 ab 2008 M-Klasse W164 ab 2006 ML M164 ab 2004 ML M166 ab 2011 R-Klasse W251 ab 2005 S-Klasse W220 ab 2003 SLK R171 ab 2004 Sprinter ab 2004 Viano ab 2004 Vito ab 2001
Mini Cooper	MiniCooper ab 2007 Countryman ab 2011
Mitsubishi	ASX ab 2010 Lancer ab 2008 Outlander ab 2007
Nissan	Juke ab 2008 Micra ab 2005 Murano ab 2008 Navara ab 2007 Note ab 2006 Pathfinder ab 2006 Patrol ab 2010 Qashqai ab 2007 Teana ab 2008 Tiida ab 2007 X-Trail ab 2007
Opel	Antara ab 2007 Astra H ab 2005 Astra ab 2010 Corsa ab 2005 Insignia ab 2009 Meriva ab 2009 Movano ab 2010 Signum ab 2003 Vectra C ab 2003 Zafira B ab 2005
Peugeot	207 alle Jahre 307 alle Jahre 308 ab 2007 3008 ab 2009 407 alle Jahre 4007 ab 2008 508 ab 2011 5008 ab 2010 807 ab 2006 Bipper ab 2008 Boxer ab 2006 Expert ab 2006 Partner ab 2006 RCZ ab 2010
Porsche	997 Carrera ab 2005 998 ab 2006 Cayenne S ab 2005 Cayman ab 2005 Panamera ab 2009
Renault	Cliio ab 2007 Fluence ab 2010 Kangoo ab 2008 Laguna ab 2008 Master ab 2010 Megane ab 2008 Scénic ab 2009 Trafic ab 2010
SEAT	Alhambraa ab 2010 Altea ab 2004 Altea XL ab 2006 Cordoba ab 2005 Exeo ab 2009 Ibiza ab 2003 Leon ab 2003 Toledo ab 2005
Skoda	Fabia ab 2000 Octavia ab 2004 Roomster ab 2006 Superb ab 2004 Yeti ab 2009
Subaru	Forester ab 2008 Impreza ab 2007 Legazy ab 2004 Outback ab 2004 Tribeca ab 2005
Suzuki	Grand Vitara ab 2006 SX4 ab 2007 Swift ab 2005
Toyota	Auris 2007 Avensis ab 2009 Camry ab 2005 Corolla ab 2006 IQ ab 2009 Landcruiser ab 2008 Prius ab 2009 Rav4 2004 UrbanCruiser ab 2010 Verso ab 2009 Yaris 2006
Volvo	C30 ab 2007 C70 ab 2006 S40 ab2006 S60 ab 2006 S80 ab 2006 V50 ab 2006 V70 ab 2001 XC60 ab 2008 XC70 ab 2007 XC90 ab 2006
VW	Amarok ab 2010 Bora Caddy Crafter ab 2004 Eos ab 2006 Golf 4 Golf 5 Golf 5 Plus Golf 6 Golf 6 Plus Jetta ab 2006 New Beetle ab 2004 Passat ab 2000 Polo ab 2004 Polo ab 2009 Scirocco ab 2009 Sharan ab 2010 Tiguan ab 2008 Touareg Touran ab 2003 T5 ab 2003

Late Model Vehicles with Controller Area Network Systems

[1]

2003 Ford Excursion, 
2003 Ford F-250 & F-350, 
2003 Ford Focus & Thunderbird, 
2003 General Motors Saturn ION, 
2003 Lincoln LS, 
2003 Mazda 6,
2003 SAAB 9-3

2004 Buick Rendezvous, 
2004 Cadillac CTS, XLR & SRX, 
2004 Dodge Durango, 
2004 Ford Explorer, 
2004 Ford F-150, E-250 & E-350, 
2004 Ford Taurus, 
2004 Lexus LS430, 
2004 Mercury Mountaineer, 
2004 Mercury Sable, 
2004 Mazda 3 & RX-8, 
2004 Toyota Prius,
2004 Volvo S40

2005 Audi A4 & A6, 
2005 Buick LaCrosse, Rendevous & Ranier, 
2005 Cadillac STS, 
2005 Chevrolet Cobalt, Corvette & Malibu, 
2005 Chevrolet Equinox, 
2005 Chevrolet SSR, 
2005 Chevrolet Trailblazer EXT, 
2005 Chrysler 300C, 
2005 Dodge Dakota & Magnum, 
2005 Ford Crown Victoria, Five Hundred, Focus & Mustang, 
2005 Ford E-150, 
2005 Ford Escape & Expedition, 
2005 Ford Freestyle, 
2005 GMC Envoy ESV & XL, 
2005 Isuzu Ascender, 
2005 Jeep Grand Cherokee, 
2005 Lexus LS400 & GX470, 
2005 Lincoln Town Car, 
2005 Mercury Grand Marquis, Montigo & Sable, 
2005 Mercury Mariner, 
2005 Pontiac G6, Grand Prix & GTO, 
2005 Land Rover LR3, 
2005 Mazda MPV & Tribute, 
2005 Mercedes SLK350, 
2005 SAAB 9-7X, 
2005 Toyota Avalon, 
2005 Toyota 4Runner, Sequoia, Tacoma & Tundra, and 
2005 Volvo S60, S80, V50, V70, XC90

Essentially ALL 2008 and newer model year passenger cars and light trucks.