Automotive::CAN bus

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Links

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.