Orientation parameters
The Toyota Auris has 13 orientation parameters.
● Confirmed◆ In testing○ Supported× Not supported
Deceleration AURIS_DECELConfirmed
- Request
21 05 - Service 21
PID 05 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016 to 2020
Bits 0 to 7 of the reply, 8 bits.
- Formula
(val × 36.36 ÷ 255 − 18.18)- Range
- -18.18 to 18.18 m/s²
- Unit
- m/s²
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
Deceleration 2 AURIS_DECEL_2Confirmed
- Request
21 05 - Service 21
PID 05 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016 to 2020
Bits 8 to 15 of the reply, 8 bits.
- Formula
(val × 36.36 ÷ 255 − 18.18)- Range
- -18.18 to 18.18 m/s²
- Unit
- m/s²
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
Deceleration open AURIS_DECELERATION_OPENConfirmed
- Request
21 BE - Service 21
PID BE - Module
7B0 → 7B8 - Every
1 s - Testing for 2006 to 2014, 2016 to 2020
Example reply from a 2015 Toyota Auris.
Bit 6 of the reply.
0b0 = 0 → 0
- Formula
val- Range
- 0 to 1
- Unit
- No or yes
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
Lateral g AURIS_LAT_GConfirmed
- Request
21 47 - Service 21
PID 47 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016, 2018 to 2020
Example reply from a 2017 Toyota Auris.
Bits 0 to 7 of the reply, 8 bits. The value is signed.
0x00 = 0 → (0 ÷ 50) = 0 g
- Formula
(val ÷ 50)- Range
- -2.5 to 2.5 g
- Unit
- g
Confirmed for 2015, 2017. In testing for 2006 to 2014, 2016, 2018 to 2020.
Longitudinal g AURIS_LNG_GConfirmed
- Request
21 47 - Service 21
PID 47 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016, 2018 to 2020
Example reply from a 2017 Toyota Auris.
Bits 8 to 15 of the reply, 8 bits. The value is signed.
0xFF = -1 → (-1 ÷ 50) = -0.02 g
- Formula
(val ÷ 50)- Range
- -2.5 to 2.5 g
- Unit
- g
Confirmed for 2015, 2017. In testing for 2006 to 2014, 2016, 2018 to 2020.
Yaw rate value, degrees/sec AURIS_YAW_RATEConfirmed
- Request
21 47 - Service 21
PID 47 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016, 2018 to 2020
Example reply from a 2017 Toyota Auris.
Bits 16 to 23 of the reply, 8 bits.
0x80 = 128 → (128 − 128) = 0 °
- Formula
(val − 128)- Range
- -128 to 127 °
- Unit
- °
Confirmed for 2015, 2017. In testing for 2006 to 2014, 2016, 2018 to 2020.
Yaw rate, error? AURIS_YAW_RATE_OPEN_ERRORConfirmed
- Request
21 BE - Service 21
PID BE - Module
7B0 → 7B8 - Every
1 s - Testing for 2006 to 2014, 2016 to 2020
Example reply from a 2015 Toyota Auris.
Bit 5 of the reply.
0b0 = 0 → 0
- Formula
val- Range
- 0 to 1
- Unit
- No or yes
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
Yaw rate, sensor 1 AURIS_YAW_1Confirmed
- Request
21 06 - Service 21
PID 06 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016 to 2020
Example reply from a 2015 Toyota Auris.
Bits 0 to 7 of the reply, 8 bits.
0x72 = 114 → (114 − 128) = -14
- Formula
(val − 128)- Range
- -128 to 127
- Unit
- Number
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
Yaw rate, sensor 2 AURIS_YAW_2Confirmed
- Request
21 06 - Service 21
PID 06 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016 to 2020
Example reply from a 2015 Toyota Auris.
Bits 8 to 15 of the reply, 8 bits.
0x72 = 114 → (114 − 128) = -14
- Formula
(val − 128)- Range
- -128 to 127
- Unit
- Number
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
Zero point of deceleration AURIS_ZP_DECConfirmed
- Request
21 46 - Service 21
PID 46 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016 to 2020
Example reply from a 2015 Toyota Auris.
Bits 0 to 7 of the reply, 8 bits. The value is signed.
0x00 = 0 → (0 ÷ 50) = 0 g
- Formula
(val ÷ 50)- Range
- -2.56 to 2.54 g
- Unit
- g
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
Zero point of deceleration 2 AURIS_ZP_DEC2Confirmed
- Request
21 46 - Service 21
PID 46 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016 to 2020
Example reply from a 2015 Toyota Auris.
Bits 8 to 15 of the reply, 8 bits. The value is signed.
0x00 = 0 → (0 ÷ 50) = 0 g
- Formula
(val ÷ 50)- Range
- -2.56 to 2.54 g
- Unit
- g
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
Zero point of yaw rate AURIS_ZERO_POINT_OF_YAW_RATEConfirmed
- Request
21 A1 - Service 21
PID A1 - Module
7B0 → 7B8 - Every
3600 s - Testing for 2006 to 2014, 2016 to 2020
Example reply from a 2015 Toyota Auris.
Bits 0 to 7 of the reply, 8 bits.
0x80 = 128 → (128 − 128) = 0
- Formula
(val − 128)- Range
- -128 to 127
- Unit
- Number
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
Zero point of yaw rate, degrees/sec AURIS_ZP_YAWConfirmed
- Request
21 46 - Service 21
PID 46 - Module
7B0 → 7B8 - Every
250 ms - Testing for 2006 to 2014, 2016 to 2020
Example reply from a 2015 Toyota Auris.
Bits 16 to 23 of the reply, 8 bits.
0x80 = 128 → (128 − 128) = 0
- Formula
(val − 128)- Range
- -128 to 127
- Unit
- Number
Confirmed for 2015. In testing for 2006 to 2014, 2016 to 2020.
