1. Controller Area Network bus
2/23/2016
Richard Kuo
Assistant Professor

2. Outline 12.NuMicro_CAN.ppt CAN bus introduction
Exercises: CAN Bus Transmission
Lab. smpl_CAN_BasicMode_Tx & Rx
Lab. smpl_CAN_NormalMode_Tx & Rx
Lab. Smpl_CAN_BasicMode_Keypad
Project : Elevator Control
OBD-II Introduction
ISO15765
SAE J1979

3. CAN Network Structure
CAN
Transceiver
MCU
CAN2.0
controller
CAN-
CAN+

4. CAN transceiver & waveform

5. CAN Bus Access & Arbitration
CSMA/CD and AMP
Carrier Sense Multiple Access/Collision Detection and Arbitration by Message Priority

6. CAN Bit Coding & Bit Stuffing
Bit Coding : NRZ (Non-Return-To-Zero code) does not ensure enough edges for synchronization
Stuff Bits are inserted after 5 consecutive bits of the same level
Stuff Bits have the inverse level of the previous bit
No deterministic encoding, frame length depends on transmitted data
Number of consecutive bits
with same polarity

7. CAN basic specification
Prioritization of messages
Guarantee of latency times
Configuration flexibility
Multicast reception with time synchronization
System wide data consistency
Multimaster
Error detection and signaling
Automatic retransmission of corrupted messages as soon as the bus is idle again
Distinction between temporary errors and permanent failures of nodes and autonomous switching off of defect nodes
Reference : Bosch CAN 2.0 specification

8. Layered Structure of CAN node
Application Layer
Cortex-M0
MCU
Object Layer
Message Filtering
Message and Status Handling
Transfer Layer
Fault Confinement
Error Detection and Signaling
Message Validation
Acknowledgement
Arbitration
Message Framing
Transfer rate and Timing
CAN2.0b
Controller
CAN
Transceiver
Physical Layer
Signal Level and Bit Representation
Transmission Medium
CAN Bus Line
Reference : Bosch CAN 2.0 specification

9. ISO standard CAN protocol
ISO11898 is a standard for high-speed CAN communication.
Formerly, both the data link and the physical layers were stipulated in ISO It was then separated into
ISO , the standard for only the data link layer and
ISO , the standard for only the physical layer.
On that occasion, several specifications were added to ISO
ISO11519 is a standard for low-speed CAN communication for communication speeds up to 125 kbps.

10. Difference between ISO11898 and ISO11519-2

11. OSI Layer

12. CAN layers mapping to OSI reference layers
Reference : ISO :2003 spec

13. CAN properties Transfer rate: 1 Mbps max. Max. message length: 8 bytes
Carrier Sense Multiple Access/Bitwise Arbitration (CSMA/BA)
Fault tolerance: 15 bits CRC + ACK
Media: twisted pair

14. Data Rate vs. Bus Length Data Rate Length 1 Mbit/s 40 m 500 kbit/s
1 km
10 kbit/s
6 km

15. Frame format

16. NuMicro built-in Bosch CAN2.0b controller
Support CAN protocol version 2.0 part A and B
Bit rate up to 1M bit/s
32 Message Objects
Each Message Object has its own identifier mask
Programmable FIFO mode (concatenation of Message object)
Maskable interrupt
Disable Automatic Re-transmission mode for Time Triggered CAN application
Programmable loop-back mode for self-test operation
16-bit module interface to AMBA APB bus
Support wake-up function

17. CAN controller block diagram
CAN Core
Message RAM
Registers
Module Interface
Message Handler
CAN_WAKEUP
16-bit APB
CAN Interrupt
CAN_TX
CAN_RX

18. Nu-LB-NUC140 connector for CAN
CAN2.0b
pin6 CAN+, pin8 CAN-

19. CAN transceiver circuit on Nu-LB-NUC140

20. LIN circuit on Nu-LB-NUC140

21. MCU_Init.h
//Define Clock source #define MCU_CLOCK_SOURCE #define MCU_CLOCK_SOURCE_HXT // HXT, LXT, HIRC, LIRC #define MCU_CLOCK_SOURCE_LXT #define MCU_CLOCK_FREQUENCY //Hz //Define MCU Interfaces #define MCU_INTERFACE_CAN #define PIN_CAN0_RX_PD6 #define PIN_CAN0_TX_PD7 #define MCU_INTERFACE_SPI3 #define SPI3_CLOCK_SOURCE_HCLK // HCLK, PLL #define PIN_SPI3_SS0_PD8 #define PIN_SPI3_SCLK_PD9 #define PIN_SPI3_MISO0_PD10 #define PIN_SPI3_MOSI0_PD11

22. CAN_BasicMode Both boards running the same program with CAN connected
RX received and display message (an incrementing number)
TX keep sending standard ID 0x701 and data =“CAN nnnn”
n is incrementing from 0 to 9999

23. CAN_BasicMode TX Type = Standard ID Id = 0x701
// // smpl_CAN_BasicMode_Rx (without Message RAM) // EVB : Nu-LB-NUC140 // MCU : NUC140VE3CN #include <stdio.h> #include "NUC100Series.h" #include "MCU_init.h" #include "SYS_init.h" #include "can.h" #include “LCD.h" #define CAN_SPEED // 500Kbps #define CAN_MODE CAN_BASIC_MODE // BASIC, NORMAL #define CAN_MSG_NO 0 // 0~31 void CAN_ShowMsg(STR_CANMSG_T* Msg); STR_CANMSG_T rMsg; //Declare a CAN message structure char Text[16]; volatile uint16_t count =0; TX
Type = Standard ID
Id = 0x701
DLC = 8 (message byte count)
DATA=“NUC 0000” RX
ShowMessage
display Id & Data

24. CAN_MsgInterrupt // ISR to handle CAN interrupt event
void CAN_MsgInterrupt(CAN_T *tCAN, uint32_t u32IIDR) {
if(u32IIDR == 1) {
sprintf(Text,"Msg-0 INT ");
print_Line(3,Text);
CAN_Receive(tCAN, 0, &rMsg);
CAN_ShowMsg(&rMsg); }
if(u32IIDR == 5 + 1) {
sprintf(Text,"Msg-5 INT ");
CAN_Receive(tCAN, 5, &rMsg);
if(u32IIDR == ) {
sprintf(Text,"Msg-31 INT ");
CAN_Receive(tCAN, 31, &rMsg);

25. CAN0_IRQHandler // CAN0 interrupt handler void CAN0_IRQHandler(void) {
uint32_t u8IIDRstatus;
u8IIDRstatus = CAN0->IIDR;
if(u8IIDRstatus == 0x ) { // Check Status Interrupt Flag (Error status Int and Status change Int) */
if(CAN0->STATUS & CAN_STATUS_RXOK_Msk) { // check CAN RX status
CAN0->STATUS &= ~CAN_STATUS_RXOK_Msk; // clear RxOK status
sprintf(Text,"RxOK INT ");
print_Line(3, Text); }
if(CAN0->STATUS & CAN_STATUS_TXOK_Msk) { // check CAN TX status
CAN0->STATUS &= ~CAN_STATUS_TXOK_Msk; // clear TxOK status
sprintf(Text,"TxOK INT ");
if(CAN0->STATUS & CAN_STATUS_EWARN_Msk) { // check CAN Error status
sprintf(Text,"EWARN INT ");
print_Line(3, Text); }
if(CAN0->STATUS & CAN_STATUS_BOFF_Msk) { // check CAN Bus Off
sprintf(Text,"BOFF INT ");
} else if(u8IIDRstatus != 0) {
sprintf(Text,"Int Ptr=%d", CAN0->IIDR - 1);
CAN_MsgInterrupt(CAN0, u8IIDRstatus);
CAN_CLR_INT_PENDING_BIT(CAN0, ((CAN0->IIDR) - 1)); // Clear Interrupt Pending
} else if(CAN0->WU_STATUS == 1) {
sprintf(Text,"Wake up!!! ");
CAN0->WU_STATUS = 0; // Write '0' to clear

26. CAN_ShowMsg // Show Message Function
void CAN_ShowMsg(STR_CANMSG_T* Msg) {
uint8_t i;
sprintf(Text,"ID =0x%X", Msg->Id);
print_Line(0, Text);
sprintf(Text,"Type=%s",Msg->IdType ? "EXT" : "STD");
print_Line(1, Text);
for(i = 0; i < Msg->DLC; i++) sprintf(Text+i,"%c", Msg->Data[i]);
print_Line(2, Text); }
// Reset message interface parameters
void CAN_ResetIF(CAN_T *tCAN, uint8_t u8IF_Num) {
if(u8IF_Num > 1) return;
tCAN->IF[u8IF_Num].CREQ = 0x0; // set bit15 for sending
tCAN->IF[u8IF_Num].CMASK = 0x0;
tCAN->IF[u8IF_Num].MASK1 = 0x0; // useless in basic mode
tCAN->IF[u8IF_Num].MASK2 = 0x0; // useless in basic mode
tCAN->IF[u8IF_Num].ARB1 = 0x0; // ID15~0
tCAN->IF[u8IF_Num].ARB2 = 0x0; // MsgVal, eXt, xmt, ID28~16
tCAN->IF[u8IF_Num].MCON = 0x0; // DLC
tCAN->IF[u8IF_Num].DAT_A1 = 0x0; // data0,1
tCAN->IF[u8IF_Num].DAT_A2 = 0x0; // data2,3
tCAN->IF[u8IF_Num].DAT_B1 = 0x0; // data4,5
tCAN->IF[u8IF_Num].DAT_B2 = 0x0; // data6,7 }

27. Init_CAN void Init_CAN(void) { int32_t i32Err = 0;
GPIO_SetMode(PB,12,GPIO_MODE_OUTPUT); // CAN Transceiver setting
PB12=0;
CAN_Open(CAN0, CAN_SPEED, CAN_MODE); // CAN Frequency = 500KHz
if(i32Err < 0) sprintf(Text,"CAN FAIL TO SET");
else sprintf(Text,"CAN=%7d bps",CAN_SPEED);
print_Line(0,Text);
// Enable CAN interrupt
CAN_EnableInt(CAN0, CAN_CON_IE_Msk | CAN_CON_SIE_Msk);
// Set Interrupt Priority
NVIC_SetPriority(CAN0_IRQn, (1 << __NVIC_PRIO_BITS) - 2);
// Enable External Interrupt
NVIC_EnableIRQ(CAN0_IRQn); }

28. CAN_Tx() & CAN_Rx() void CAN_Tx(void) {
STR_CANMSG_T msg1; // declare a CAN message structure
msg1.FrameType = CAN_DATA_FRAME;
msg1.IdType = CAN_STD_ID; // CAN_EXT_ID
msg1.Id = 0x701; // 0x7755
msg1.DLC = 8; // Data Length Count = 8 bytes
msg1.Data[0] = 'C';
msg1.Data[1] = 'A';
msg1.Data[2] = 'N';
msg1.Data[3] = ' ';
msg1.Data[4] = 0x30+count/1000;
msg1.Data[5] = 0x30+count%1000/100;
msg1.Data[6] = 0x30+count%1000%100/10;
msg1.Data[7] = 0x30+count%1000%100%10;
count++;
if (count>9999) count=0;
CAN_Transmit(CAN0, CAN_MSG_NO, &msg1);//Send CAN message
CLK_SysTickDelay(100000); }
void CAN_Rx(void) {
while(CAN_Receive(CAN0, CAN_MSG_NO, &rMsg)== FALSE);
CAN_ShowMsg(&rMsg); }

29. main() of TX/RX int main(void) { SYS_Init(); init_LCD(); clear_LCD();
Init_CAN();
while(1) {
CAN_Tx(); }
CAN_Close(CAN0); // Disable CAN
CAN_Stop(); // Disable CAN Clock and Reset it
int main(void) {
SYS_Init();
init_LCD();
clear_LCD();
Init_CAN();
while(1) {
CAN_Rx(); }
CAN_Close(CAN0); // Disable CAN
CAN_Stop(); // Disable CAN Clock and Reset it

30. CAN_NormalMode Both boards running the same program with CAN connected
RX received and display message (an incrementing number)
TX keep sending standard ID 0x701 and data =“CAN nnnn”
n is incrementing from 0 to 9999

31. CAN_NormalMode TX Type = Standard ID Id = 0x701
// // smpl_CAN_BasicMode_Rx (with Message RAM) // EVB : Nu-LB-NUC140 // MCU : NUC140VE3CN #include <stdio.h> #include "NUC100Series.h" #include "MCU_init.h" #include "SYS_init.h" #include "can.h" #include “LCD.h" #define CAN_SPEED // 500Kbps #define CAN_MODE CAN_NORMAL_MODE // BASIC, NORMAL #define CAN_MSG_NO 0 // 0~31 void CAN_ShowMsg(STR_CANMSG_T* Msg); STR_CANMSG_T rMsg; //Declare a CAN message structure char Text[16]; volatile uint16_t count =0; TX
Type = Standard ID
Id = 0x701
DLC = 8 (message byte count)
DATA=“NUC 0000” RX
ShowMessage
display Id & Data

32. Same function calls as BasicMode
CAN_MsgInterrupt
CAN0_IRQHandler
CAN_ShowMsg
CAN_Tx
CAN_Rx

33. Init_CAN void Init_CAN(void) { int32_t i32Err = 0;
GPIO_SetMode(PB,12,GPIO_MODE_OUTPUT); // CAN Transceiver setting
PB12=0;
CAN_Open(CAN0, CAN_SPEED, CAN_MODE); // CAN Frequency = 500KHz
if(i32Err < 0) sprintf(Text,"CAN FAIL TO SET");
else sprintf(Text,"CAN=%7d bps",CAN_SPEED);
print_Line(0,Text);
// Enable CAN interrupt
// CAN_EnableInt(CAN0, CAN_CON_IE_Msk | CAN_CON_SIE_Msk);
// Set Interrupt Priority
// NVIC_SetPriority(CAN0_IRQn, (1 << __NVIC_PRIO_BITS) - 2);
// Enable External Interrupt
// NVIC_EnableIRQ(CAN0_IRQn); }
Interrupt is disable, because Tx will cause message interrupt to itself

34. Elevator System Diagram

35. Emulated Elevator System
CAN bus
Elevator Floor
Elevator Control
Printer Scanner
(emulate Elevator)
Elevator Cabinet
Using NUC140 CAN bus to communicate between floors!

36. Emulated Elevator System
CAN2.0
bus
CAN2.0
bus
CAN2.0
bus

37. Elevator Control Functions
Elevator Cabinet
CAN_TX : Id = 0x700, Data[0] = requested floor_no
CAN_RX : display floor_no sent by ID=0x777
Elevator Floor
CAN_TX : Id = 0x700+floor_no, Data[0] = ‘U’ or ‘D’ or ‘-’
Elevator Control
CAN_TX : Id = 0x777
CAN_RX : see flow chart
Timer0_IRQHandler : determine floor_no & direction every second and drive the motor
Note: 3 sample codes modified from Smpl_CAN_Keypad

38. Elevator_Cabinet flowchart
CAN_RX
print floor_movement on LCD
return
print floor_no on LCD
CAN_Id==0x777
CAN_TX
return
CAN_Data[0] = requested floor_no
CAN_Id = 0x700

39. Elevator_Floor flowchart
CAN_TX
return
CAN_Data[0] =
‘U’ for Up
‘D’ for Down
‘-’ for No Move
CAN_Id = 0x700 + floor_no
CAN_RX
print floor_movement on LCD
return
print floor_no on LCD
CAN_Id==0x777

40. Elevator_Control CAN_RX flowchart
If (floor_no<f) direction[f] = 1
else if (floor_no>f) direction[f] = -1
else direction[f] = 0
return
f = CAN_Data[0] - 0x30
Request[f]++
CAN_Id==0x700
f = CAN_Id - 0x700
Request[f]+=10 Y N
If (CAN_Data[0]==‘U’) direction[f]=1
else if (CAM_Data[0]==‘D’) direction[f]=-1
else direction[f] = 0
Elevator panel
CAN_Id = 0x700
CAN_Data[0] = floor_no request
Floor panel
CAN_Id = 0x700 + floor_no
CAN_Data[0] = Up/Down request

41. Elevator_Control CAN_RX
void CAN_ShowMsg(STR_CANMSG_T* Msg) { int8_t i,f; sprintf(TEXT1+6,"%x", Msg->Id); print_Line(1,TEXT1); for(i=0;i<Msg->DLC;i++) sprintf(TEXT2+6+i,"%c", Msg->Data[i]); print_Line(2,TEXT2); if (Msg->Id==0x700) { f = Msg->Data[0] - 0x30; request[f]+=10; if (floor_no<f) direction[f]=1; else if (floor_no>f) direction[f]=-1; else direction[f]=0; } else { f = Msg->Id - 0x700; request[f]++; if (Msg->Data[0]=='U') direction[f]=1; else if (Msg->Data[0]=='D') direction[f]=-1; else direction[f]=0; }

42. Elevator_Control Timer0 IRQ Handler
For (i=1;i<floor_no;i++) down_weigth += request[i];
For (i=floor_no+1;i<MAX_FLOOR+1;i++) up_weight += request[i]
floor_dir
No_move Up
Down
If (down_wt >up_wt) floor_dir = Down
Else if (up_wt<down_wt) floor_dir = Up
Else if (up_wt==down_wt && up_wt<>0)
floor_dir = no_move
Else floor_dir = No_move
If (up_wt <>0) floor_dir = Up
Else if (down_wt<>0) floor_dir = Down
Else floor_dir = No_move
If (down_wt <>0) floor_dir = Down
Else if (up_wt<>0) floor_dir = Up
Else floor_dir = No_move
floor_no = floor_no + floor_dir
Elevator_move(floor_dir) Y
request[floor_no<>0 && floor_dir
Elevator_open() N
CAN_TX()
return

43. Elevator_Control IRQHandler
void TMR0_IRQHandler(void) // Timer0 interrupt subroutine { int8_t i; int16_t up_wt, down_wt; up_wt = 0; down_wt = 0; for (i=1;i<floor_no;i++) down_wt = down_wt + request[i]; for (i=floor_no+1; i<(MAX_FLOOR+1); i++) up_wt = up_wt + request[i]; // To decicde motor moving direction if (floor_dir==1) { if (up_wt !=0) floor_dir=1; else if (down_wt!=0) floor_dir=-1; else floor_dir=0; } else if (floor_dir==-1) { if (down_wt!=0) floor_dir=-1; else if (up_wt !=0) floor_dir=1; else {
floor_no = floor_no + floor_dir;
Elevator_move(floor_dir);
if (request[floor_no]!=0 && floor_dir==0) Elevator_open();
CAN_TX(); // send counter value to CAN bus
TIMER0->TISR.TIF = 1; //Write 1 to clear for safty }

44. J1939 Overview J1939 is based on CAN2.0B
Just as CAN is centered around the ID, J1939 is centered around PGN. PGN is defined by the CAN ID.
PGN: Parameter Group Number
For example, PGN is “Wheel Speed Information”. Data comes in data field.
Most PGNs are 8 bytes long. Multibyte variables are sent least significant byte first.
Typically 0xFF means “data isn‟t available”, 0xFE means “error”. Valid range is Check MSB for multibyte variables.

45. CAN ID Mapping P: Message priority. Must come first.
EDP: Extended data page. J1939 devices must set to 0.
DP: Data page. Used to create a second page of PGNs.
PF: PDU format:
< 240, PS is destination address. (PDU1 format)
>= 240, PS is group extension. (PDU2 format)
PS: PDU specific. Either destination address or group extension.
SA: Source address of controller application (CA).

46. J1939 PGN Mapping
If PF < 240,
then PGN = (DP << 9)+(PF<<8),
else PGN = (DP << 9)+(PF<<8)+PS
Max number of PGNs: (240 + (16 x 256)) x 2) = 8,672

47. J1939 Wheel Speed Information
Example J1939 PGN
J1939 Wheel Speed Information
PGN: (0xFEBF)
Priority: 6 (default)
Length: 8
TX Rate: 100 ms
SPN
Bytes 1-2: Front axle speed
Byte 3: Relative, front axle #1, left 905
Byte 4: Relative, front axle #1, right 906
Byte 5: Relative, rear axle #1, left
Byte 6: Relative, rear axle #1, right 908
Byte 7: Relative, rear axle #2, left
Byte 8: Relative, rear axle #2, right 910

48. J1939 Request PGN PGN: 59904 (0xEA00) Priority: 6 (default) Length: 3
Destination: Global or specific
Bytes 1-3: PGN which is being requested

49. J1939 Proprietary A PGN PGN: 61184(0xFEBF) Priority: 6 (default)
Length: 0 to 1785
Destination: Specific
Bytes : Manufacture specific
Usage should not exceed 2% of network utilization

50. J1939 Proprietary B PGN PGN: 65280 to 65535 (0xFF00 to 0xFFFF))
Priority: 6 (default)
Length: 0 to 1785
Destination: Global
Bytes : Manufacture specific
Usage should not exceed 2% of network utilization

51. OBD-II connector in Vehicle

52. OBD-II (On-Board Diagnosis)

53. OBD-II protocols ISO15765-4 (CAN bus) ISO14230-4 (KWP2000)
Most modern protocol, mandatory for all vehicles sold in US, use pin 6 & 14
ISO CAN (11 bit ID, 500Kbaud)
ISO CAN (29 bit ID, 500Kbaud)
ISO CAN (11 bit ID, 250Kbaud)
ISO CAN (29 bit ID, 250Kbaud)
ISO (KWP2000)
Common protocol for vehicles using IOS9141 K-Line (pin 7)
SAE J1850 VPW
Diagnostic bus used mostly on GM vehicles, use pin1 comm speed 10.4kB/sec
SAE J1850 PWM
Diagnostic bus used mostly on Ford vehicles, use pin1 & 2,comm speed 41.6kB/sec

54. OBD2 to DB9

55. 車輛診斷系統 (OBD-II) Digimoto www.digimoto.com EasyOBDII www.easyobdii.com
PCMSCAN
ProScan
ScanMaster-ELM
ScanTool.net

56. OBD-II Simulator 支援 ISO 15765-4 (CAN250/500kbps, 11/29 bit) OBD-II 協定
具備符合 SAE J1962 標準的 OBD-II 母頭
可模擬車輛引擎 ECU，產生符合 SAE J1979 規範之 OBD-II 診斷資料數據，涵蓋車速、引擎轉速、冷卻水水溫、含氧感知器電壓、節氣門位置...等， 總數超過50種以上之 Live Data ， Data 數值可由使用者自行設定
可模擬車輛引擎 ECU，產生符合 SAE J2012 規範之 OBD-II 故障碼 (DTC) 資料數據，涵蓋B類(車身)、C類(底盤)、P類(動力傳輸)、U類(車身網路)等OBD-II標準故障碼(DTC)共5000組以上，可模擬超過5000種的 DTC，包含 Stored DTC 與 Pending DTC 等
可模擬車輛ECU，執行SAE J1979規範的Mode 01~Mode 04操作:
Mode 01: 目前OBD-II Live Data讀取
Mode 02: 凍結OBD-II Data讀取 (每組DTC會產生一組凍結OBD-II Data，至少包含冷卻水溫度、進氣溫度、進氣壓力、點火正時提前、燃油控制狀態、節氣閥角度、引擎計算負載值、引擎轉速、車速、A/F修正補償量等)
Mode 03: 讀取Stored或是Pending DTC
Mode 04: 清除DTC
OBD Live Data 及 DTC 之 PID 與定義內容可由軟體設定擴充

57. ISO15765 ISO15765-2 CAN Message Format ISO15765-3 UDS on CAN

58. CAN Message Frame Format

59. Protocol Control Information (PCI)

60. Protocol Control Information Types

61. Single Frame

62. First Frame

63. Consecutive Frame

64. Protocol Control Information – Flow Control

65. Protocol Control Information – Flow Control

66. CAN Message Frame Timing

67. CAN Message Frame Timing Parameters

68. Flow Control Requirement

69. Timeout Error Handling

70. Unified Diagnostic Services
UDS (Unified Diagnostic Service) is based on the standards KWP2000 for K-Line and CAN

71. OSI protocols of the wireless diagnostic system

72. ISO14229 – Diagnostic Service List
ISO14299 is a set of standards specifying the implementation of UDS

73. Screenshot of the HMI on the diagnostic tester

74. Software Architecture
Software architecture of
the diagnostic tester
Software architecture of
the on-vehicle ECU

75. The network architecture of self build electric vehicle

76. SAE J1979 define 10 modes 0x01. Show current data
0x02. Show freeze frame data
0x03. Show stored Diagnostic Trouble Codes
0x04. Clear Diagnostic Trouble Codes and stored values
0x05. Test results, oxygen sensor monitoring (non CAN only)
0x06. Test results, other component/system monitoring (Test results, oxygen sensor monitoring for CAN only)
0x07. Show pending Diagnostic Trouble Codes (detected during current or last driving cycle)
0x08. Control operation of on-board component/system
0x09. Request vehicle information
0x0A. Permanent DTC's (Cleared DTC's)
Vehicle manufactures are not required to support

77. SAE J1979 standard PIDs

78. SAE J2012
SAE J2012 offer Diagnostic Trouble Code (DTC) and Failure Type Byte (FTB)
SAE J2012 was originally developed to meet U.S. OBD requirements for 1996 and later model year vehicles. ISO was based on SAE J1962 and was intended to meet European OBD requirements for 2000 and later model year vehicles.
This document is technically equivalent to ISO , with new and revised fault codes included.

79. SAE J1939 map to CAN frame
PGN

80. Important Notice !
This educational material are neither intended nor warranted for usage in systems or equipment, any malfunction or failure of which may cause loss of human life, bodily injury or severe property damage. Such applications are deemed, “Insecure Usage”.
Insecure usage includes, but is not limited to: equipment for surgical implementation, atomic energy control instruments, airplane or spaceship instruments, the control or operation of dynamic, brake or safety systems designed for vehicular use, traffic signal instruments, all types of safety devices, and other applications intended to support or sustain life.
All Insecure Usage shall be made at user’s own risk, and in the event that third parties lay claims to the author as a result of customer’s Insecure Usage, the user shall indemnify the damages and liabilities thus incurred by using this material.
Please note that all lecture and sample codes are subject to change without notice. All the trademarks of products and companies mentioned in this material belong to their respective owners.