canbus

Ford HS CAN bus description

CAN bus speed is 500kb/s.
There are 5 messages from ECU and 1 from smart junction box. Messages from ECU contains process data used by instrument cluster (speed, rpm, etc).
Data are in big endian format.
Also OBD2 protocol uses this bus, so it means CAN IDs $7DF, $7E0 to $7EF have to be reserved for diagnostics.

Messages description:

CAN ID 200h, period 16ms, produced by ECU.

Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x29	0x55	0x28	0x87	0x28	0x87	0x10	0x00

Byte 3+4: Throttle position.
Byte 5+6: Throttle position.
Byte 7: Status flags. Bit 2 brakes.

CAN ID 201h, period 16ms, produced by ECU.

Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x0e	0x8f	0x7d	0x90	0x27	0x10	0x00	0x7d

Byte 1+2: RPM * 4
Byte 5: speed + 39 (<39 == reverse). So 0 is about 60mph at reverse, 39 is 0 mph, 76 is 60mph and 114 is 120mph (max).
Speed formula from internet: Speed (mph) = 0.0065 * (BYTE 5+6) - 67
Byte 7+8: Accelerator pedal position. Released pedal is 0x7D, max 0xC87D.

CAN ID 230h, period 48ms, produced by ECU.
Related to A/T which is not equipped in my car. So this is what i found on inet:

Gear | Byte 1 | Byte 8

• | - | -
  P | dd | 10
  R | a1 | 30
  N | ee | 50
  D | 17 | 70
  L | 12 | C

Byte 1 seems to be affected by cruise control too, coasting too
Byte 6 = whether button on side of gear shift is on (00,04)

CAN ID 420h, period 96ms, produced by ECU.

Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x62	0x00	0x00	0x00	0x40	0x08	0x40	0x00

Byte 7: Bit0 Clutch pedal activated.
This message also contains odometer data and fuel consumption.
From internet:
Odometer = Byte 1+2+3 (24 bit value [*10 meters?]). Cluster gauges reacts only if this value changes, so ECU and gauges can have different odometer data. So if ECU increases odometer by 100 meters, gauges also increases odometer by 100 meters.

CAN ID 430h, period 50ms, produced by SJB.
Byte 7: Bit2 A/C request (button pressed).

CAN ID 4B0h, produced by ABS.
ABS related, not on my car.
Speed of each wheel is there.

CAN ID 4E0h, period 993ms, produced by ECU.
Some multiplexed data there.

CAN ID 4FFh, period 993ms, produced by ECU.