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CAN database · Powertrain CAN

Toyota TSS2 powertrain CAN (no DSU)

Mirrored from commaai/opendbc at revision a3ed7d18e8 · MIT license · community reverse-engineered data, not part of CarGeek's authored corpus. Corrections belong upstream.

The TSS2-era file, where the camera assembly replaced the separate Driving Support Unit. Covers the TNGA cars the openpilot community drives most.

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When a module on this bus stops talking

Lost-communication trouble codes from the corpus that name modules of this kind.

Modules on this bus

DSU · HCU · EPS · IPAS · CGW · BGM

Messages (60)

60 messages match.

  • 0x24 KINEMATICS 8 bytes
    Signal Placement Scale Range Unit Values
    ACCEL_Y 33|10@0+ ×0.03589 -18.375 0…65535 m/s^2 —
    YAW_RATE

    verify

    		 1|10@0+ ×0.244 -125 0…65535 deg/s —
    ACCEL_X

    x-axis accel

    		 17|10@0+ ×0.03589 -18.375 0…65535 m/s^2 —
  • 0x25 STEER_ANGLE_SENSOR 8 bytes
    Signal Placement Scale Range Unit Values
    STEER_ANGLE 3|12@0- ×1.5 -500…500 deg —
    STEER_FRACTION

    1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set

    		 39|4@0- ×0.1 -0.7…0.7 deg —
    STEER_RATE

    factor is tbd

    		 35|12@0- — -2000…2000 deg/s —
  • 0x77 ENG2F41 6 bytes · from CGW
    Signal Placement Scale Range Unit Values
    FDRV 7|16@0- ×2 — N —
    FDRVREAL

    ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking

    		 23|13@0- ×10 — N —
    XAECT 39|1@0+ — — — —
    XFDRVCOL 38|1@0+ — — — —
    FDRVSELP 34|3@0+ — — — —
    ENG2F41S 47|8@0+ — — — —
  • 0x78 ENG2F42 4 bytes · from CGW
    Signal Placement Scale Range Unit Values
    FAVLMCHH 7|16@0- ×2 — N —
    CCRNG 23|1@0+ — — — —
    FDRVTYPD 22|3@0+ — — — —
    GEARHD 18|1@0+ — — — —
    ENG2F42S 31|8@0+ — — — —
  • 0xA6 BRAKE 8 bytes
    Signal Placement Scale Range Unit Values
    BRAKE_AMOUNT 7|8@0+ — 0…255 — —
    BRAKE_FORCE

    hybrid only: force applied by friction brakes from user or ACC command

    		 23|8@0+ ×40 0…10200 N —
  • 0xAA WHEEL_SPEEDS 8 bytes
    Signal Placement Scale Range Unit Values
    WHEEL_SPEED_FR_FAULT 7|1@0+ — — — —
    WHEEL_SPEED_FR 6|15@0+ ×0.01 -67.67 — km/h —
    WHEEL_SPEED_FL_FAULT 23|1@0+ — — — —
    WHEEL_SPEED_FL 22|15@0+ ×0.01 -67.67 — km/h —
    WHEEL_SPEED_RR_FAULT 39|1@0+ — — — —
    WHEEL_SPEED_RR 38|15@0+ ×0.01 -67.67 — km/h —
    WHEEL_SPEED_RL_FAULT 55|1@0+ — — — —
    WHEEL_SPEED_RL 54|15@0+ ×0.01 -67.67 — km/h —
  • 0xB4 SPEED 8 bytes
    Signal Placement Scale Range Unit Values
    ENCODER 39|8@0+ — 0…255 — —
    SPEED 47|16@0+ ×0.01 0…250 km/h —
    CHECKSUM 63|8@0+ — 0…255 — —
  • 0x127 GEAR_PACKET_HYBRID 8 bytes
    Signal Placement Scale Range Unit Values
    FDRVREAL

    hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking

    		 26|11@0- ×25 -25600…25575 N —
    UNKNOWN 55|8@0+ — 0…255 — —
    CHECKSUM 63|8@0+ — 0…255 — —
    GEAR 47|4@0+ — 0…15 — 0 P · 1 R · 2 N · 3 D · 4 B
  • 0x161 DSU_SPEED 7 bytes
    Signal Placement Scale Range Unit Values
    FORWARD_SPEED 15|16@0- ×0.00390625 -30 0…255 km/h —
  • 0x191 STEERING_LTA 8 bytes
    Signal Placement Scale Range Unit Values
    CHECKSUM 63|8@0+ — 0…255 — —
    SETME_X3

    almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)

    		 29|2@0+ — 0…3 — 3 TSS 2.0 · 1 TSS 2.5 or 2022 RAV4 · 0 TSS 2.0 on Alphard, Highlander, NX
    PERCENTAGE

    driver override percentage (0-100), very close to steeringPressed in OP

    		 39|8@0+ — 0…255 — —
    TORQUE_WIND_DOWN

    used to wind down torque on user override

    		 47|8@0+ — 0…255 — —
    ANGLE

    angle of car relative to lane center on LTA camera

    		 55|8@0- ×0.5 0…255 — —
    STEER_ANGLE_CMD

    desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out

    		 15|16@0- ×0.0573 -540…540 — —
    STEER_REQUEST_2

    enable bit for steering, 1 to steer, 0 to not

    		 25|1@0+ — 0…1 — —
    LKA_ACTIVE

    1 when using LTA for LKA

    		 26|1@0+ — 0…1 — —
    CLEAR_HOLD_STEERING_ALERT

    set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel

    		 30|1@0+ — 0…1 — —
    COUNTER 6|6@0+ — 0…255 — —
    STEER_REQUEST

    enable bit for steering, 1 to steer, 0 to not

    		 0|1@0+ — 0…1 — —
    SETME_X1

    usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist

    		 7|1@0+ — 0…1 — —
  • 0x1AA VSC1F02 6 bytes · from CGW
    Signal Placement Scale Range Unit Values
    VXFRF 7|1@0+ — — — —
    VXFRIGS 6|1@0+ — — — —
    VXFRHDS 5|1@0+ — — — —
    VXFLF 2|1@0+ — — — —
    VXFLIGS 1|1@0+ — — — —
    VXFLHDS 0|1@0+ — — — —
    VXRRF 13|1@0+ — — — —
    VXRRIGS 12|1@0+ — — — —
    VXRRHDS 11|1@0+ — — — —
    VXRLF 8|1@0+ — — — —
    VXRLIGS 23|1@0+ — — — —
    VXRLHDS 22|1@0+ — — — —
    VSCF02SM 47|8@0+ — — — —
  • 0x1C4 ENGINE_RPM 8 bytes · from CGW
    Signal Placement Scale Range Unit Values
    RPM 7|16@0- ×0.78125 — rpm —
    ENGINE_RUNNING 27|1@0+ — 0…1 — —
  • 0x1D2 PCM_CRUISE 8 bytes
    Signal Placement Scale Range Unit Values
    GAS_RELEASED 4|1@0+ — 0…1 — —
    CRUISE_ACTIVE 5|1@0+ — 0…1 — —
    ACC_BRAKING

    whether brakes are being actuated from ACC command

    		 12|1@0+ — 0…1 — —
    ACCEL_NET

    net negative acceleration (braking) applied by the system if on flat ground

    		 23|16@0- ×0.0009765625 -20…20 m/s^2 —
    NEUTRAL_FORCE

    force in newtons the engine/electric motors are applying without any acceleration commands or user input

    		 39|16@0- ×2 -65536…65534 N —
    CRUISE_STATE

    Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10

    		 55|4@0+ — 0…15 — 11 timer_3sec · 10 adaptive click down · 9 adaptive click up · 8 adaptive engaged · 7 standstill · 6 non-adaptive click up · 5 non-adaptive click down · 4 non-adaptive hold down · +4 more
    CANCEL_REQ 49|1@1+ — 0…1 — —
    CHECKSUM 63|8@0+ — 0…255 — —
  • 0x1D3 PCM_CRUISE_2 8 bytes
    Signal Placement Scale Range Unit Values
    BRAKE_PRESSED 3|1@0+ — 0…1 — —
    PCM_FOLLOW_DISTANCE 12|2@0+ — 0…3 — 1 far · 2 medium · 3 close
    LOW_SPEED_LOCKOUT

    in low speed lockout, system would always disengage below 28mph

    		 14|2@0+ — 0…3 — 2 low speed locked · 1 ok
    MAIN_ON 15|1@0+ — 0…1 — —
    SET_SPEED

    43 km/h are shown as 28 mph, so conversion isn't perfect

    		 23|8@0+ — 0…255 km/h —
    ACC_FAULTED

    1 when ACC is faulted and the PCM disallows engagement

    		 47|1@0+ — 0…1 — —
    CHECKSUM 63|8@0+ — 0…255 — —
  • 0x226 BRAKE_MODULE 8 bytes
    Signal Placement Scale Range Unit Values
    BRAKE_PRESSURE

    seems prop to pedal force

    		 0|9@0+ — 0…511 — —
    BRAKE_POSITION

    seems proportional to pedal displacement, unclear the max value of 0x1c8

    		 16|9@0+ — 0…511 — —
    BRAKE_PRESSED 37|1@0+ — 0…1 — —
  • 0x228 VSC1S29 4 bytes · from CGW
    Signal Placement Scale Range Unit Values
    ICBACT 7|1@0+ — — — —
    DVS0PCS 6|15@0- ×0.001 — m/s^2 —
    SM228 31|8@0+ — — — —
  • 0x230 BRAKE_2 7 bytes
    Signal Placement Scale Range Unit Values
    BRAKE_PRESSED

    another brake pressed?

    		 26|1@0+ — 0…1 — —
  • 0x245 GAS_PEDAL_HYBRID 8 bytes
    Signal Placement Scale Range Unit Values
    GAS_PEDAL

    it seems slightly filtered

    		 23|8@0+ ×0.005 0…1 — —
  • 0x260 STEER_TORQUE_SENSOR 8 bytes
    Signal Placement Scale Range Unit Values
    STEER_TORQUE_EPS 47|16@0- — -32768…32767 — —
    STEER_TORQUE_DRIVER

    driver torque

    		 15|16@0- — -32768…32767 — —
    STEER_ANGLE 31|16@0- ×0.0573 -500…500 — —
    STEER_ANGLE_INITIALIZING 3|1@0+ — 0…1 — —
    STEER_OVERRIDE

    set when driver torque exceeds a certain value

    		 0|1@0+ — 0…1 — —
    CHECKSUM 63|8@0+ — 0…255 — —
  • 0x262 EPS_STATUS 8 bytes · from EPS
    Signal Placement Scale Range Unit Values
    IPAS_STATE 3|4@0+ — 0…15 — 5 override · 3 enabled · 1 disabled
    LKA_STATE 31|7@0+ — 0…127 — 25 temporary_fault · 17 permanent_fault · 11 lka_missing_unavailable2 · 9 temporary_fault2 · 5 active · 3 lka_missing_unavailable · 1 standby
    LTA_STATE 15|5@0+ — 0…31 — 25 temporary_fault · 9 temporary_fault2 · 5 active · 3 lta_missing_unavailable · 1 standby
    TYPE

    seems 1 on Corolla, 0 on all others

    		 24|1@0+ — 0…1 — —
    CHECKSUM 63|8@0+ — 0…255 — —
  • 0x266 STEERING_IPAS 8 bytes · from IPAS
    Signal Placement Scale Range Unit Values
    STATE 7|4@0+ — 0…15 — 3 enabled · 1 disabled
    ANGLE

    set to measured angle when ipas control isn't active

    		 3|12@0- ×1.5 -510…510 deg —
    SET_ME_X10 23|8@0+ — 0…255 — —
    SET_ME_X00 31|8@0+ — 0…255 — —
    DIRECTION_CMD 38|2@0+ — 0…3 — 3 right · 2 center · 1 left
    SET_ME_X40 47|8@0+ — 0…255 — —
    SET_ME_X00_1 55|8@0+ — 0…255 — —
    CHECKSUM 63|8@0+ — 0…255 — —
  • 0x283 PRE_COLLISION 7 bytes · from DSU
    Signal Placement Scale Range Unit Values
    _COUNTER

    only used on cars that use this msg for cruise control

    		 7|8@0+ — 0…255 — —
    SET_ME_X00 15|8@0+ — 0…255 — —
    FORCE 23|16@0- ×2 0…255 N —
    SET_ME_X002 33|8@0+ — 0…3 — —
    BRAKE_STATUS

    only used on cars that use this msg for cruise control

    		 39|3@0+ — 0…255 — —
    STATE 36|3@0+ — 0…255 — 0 normal · 1 adaptive_cruise_control · 3 emergency_braking
    SET_ME_X003 40|1@0+ — 0…1 — —
    PRECOLLISION_ACTIVE

    set 0.5s before any braking

    		 41|1@0+ — 0…255 — —
    CHECKSUM 55|8@0+ — 0…255 — —
  • 0x2C1 GAS_PEDAL 8 bytes
    Signal Placement Scale Range Unit Values
    GAS_RELEASED 3|1@0+ — 0…1 — —
    ETQLVSC 15|16@0- ×0.03125 — Nm —
    ETQREAL 31|16@0- ×0.03125 — Nm —
    ETQISC 47|8@0+ ×1 -192 — Nm —
    GAS_PEDAL 55|8@0+ ×0.5 — % —
    CHECKSUM 63|8@0+ — — — —
  • 0x2E4 STEERING_LKA 5 bytes
    Signal Placement Scale Range Unit Values
    LKA_STATE 31|8@0+ — 0…255 — —
    STEER_REQUEST 0|1@0+ — 0…1 — —
    COUNTER 6|6@0+ — 0…63 — —
    SET_ME_1 7|1@0+ — 0…1 — —
    STEER_TORQUE_CMD 15|16@0- — 0…65535 — —
    CHECKSUM 39|8@0+ — 0…255 — —
  • 0x2E6 LEAD_INFO 8 bytes · from DSU
    Signal Placement Scale Range Unit Values
    CHECKSUM 63|8@0+ — 0…255 — —
    LEAD_REL_SPEED 23|12@0- ×0.025 -100…100 m/s —
    LEAD_LONG_DIST 7|13@0+ ×0.05 0…300 m —

2 record(s) of 2 other DBC record type(s) (VERSION, BS_) are in the source file but not shown here — see the file upstream for the complete grammar.