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Toyota Matrix

Orientation parameters

The Toyota Matrix has 16 orientation parameters.

● Confirmed◆ In testing○ Supported× Not supported

How to read a parameter card

Deceleration open TOYOTA_DECELERATION_OPENConfirmed

  • Request21 BE
  • Service 21PID BE
  • Module7B0 → 7B8
  • Every1 s
  • Testing

Example reply from a 2010 Toyota Matrix.

Bit 6 of the reply.

0b0 = 0 → 0

Formula
val
Range
0 to 1
Unit
No or yes

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

  1. The parameter's name and its ID in the OBDb. Confirmed shows when a response from a real car confirms the parameter.
  2. The clutch mark shows a Connectable, a parameter that Pelican surfaces in its interface.
  3. The service and PID/DID asked for, the control module it's sent to, and how often Pelican asks.
  4. The reply's bytes. The parameter's bytes are blue. Bytes for other parameters in the same reply are grayed out. Hover over a byte to see the parameter it represents.
  5. Where the parameter is in the response, and how Pelican converts the raw value into a value.
  6. A real reply, decoded. The raw value comes first, then the reading.
  7. Which model years have tested this parameter.

Deceleration TOYOTA_DECELConfirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

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 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Deceleration 2 TOYOTA_DECEL_2Confirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

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 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Deceleration open TOYOTA_DECELERATION_OPENConfirmed

  • Request21 BE
  • Service 21PID BE
  • Module7B0 → 7B8
  • Every1 s
  • Testing

Example reply from a 2010 Toyota Matrix.

Bit 6 of the reply.

0b0 = 0 → 0

Formula
val
Range
0 to 1
Unit
No or yes

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Lateral g TOYOTA_LAT_GConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Example reply from a 2010 Toyota Matrix.

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 2010. In testing for 2003, 2005 to 2007, 2011 to 2014. Not supported for 2004, 2008 to 2009.

Longitudinal g TOYOTA_LNG_GConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Example reply from a 2010 Toyota Matrix.

Bits 8 to 15 of the reply, 8 bits. The value is signed.

0xFD = -3 → (-3 ÷ 50) = -0.06 g

Formula
(val ÷ 50)
Range
-2.5 to 2.5 g
Unit
g

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2011 to 2014. Not supported for 2004, 2008 to 2009.

Yaw rate sensor TOYOTA_YAW_RATEConfirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Example reply from a 2010 Toyota Matrix.

Bits 0 to 7 of the reply, 8 bits.

0x6A = 106 → (106 − 128) = -22 °

Formula
(val − 128)
Range
-128 to 127 °
Unit
°

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Yaw rate sensor, alternate TOYOTA_YAW_RATE2Confirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Example reply from a 2010 Toyota Matrix.

Bits 8 to 15 of the reply, 8 bits.

0x6A = 106 → (106 − 128) = -22 °

Formula
(val − 128)
Range
-128 to 127 °
Unit
°

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Yaw rate value TOYOTA_YAWConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Example reply from a 2010 Toyota Matrix.

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 2010. In testing for 2003, 2005 to 2007, 2011 to 2014. Not supported for 2004, 2008 to 2009.

Yaw rate value (degrees/sec) TOYOTA_YAW_RATE_V2Confirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Example reply from a 2010 Toyota Matrix.

Bits 16 to 23 of the reply, 8 bits.

0x80 = 128 → (128 − 128) = 0 °

Formula
(val − 128)
Range
-128 to 127 °
Unit
°

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2011 to 2014. Not supported for 2004, 2008 to 2009.

Yaw rate, error? TOYOTA_YAW_RATE_OPEN_ERRORConfirmed

  • Request21 BE
  • Service 21PID BE
  • Module7B0 → 7B8
  • Every1 s
  • Testing

Example reply from a 2010 Toyota Matrix.

Bit 5 of the reply.

0b0 = 0 → 0

Formula
val
Range
0 to 1
Unit
No or yes

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Yaw rate, sensor 1 TOYOTA_YAW_1Confirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Example reply from a 2010 Toyota Matrix.

Bits 0 to 7 of the reply, 8 bits.

0x6A = 106 → (106 − 128) = -22

Formula
(val − 128)
Range
-128 to 127
Unit
Number

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Yaw rate, sensor 2 TOYOTA_YAW_2Confirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Example reply from a 2010 Toyota Matrix.

Bits 8 to 15 of the reply, 8 bits.

0x6A = 106 → (106 − 128) = -22

Formula
(val − 128)
Range
-128 to 127
Unit
Number

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Zero point of deceleration TOYOTA_ZP_DECConfirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Bits 0 to 7 of the reply, 8 bits. The value is signed.

Formula
(val ÷ 50)
Range
-2.56 to 2.54 g
Unit
g

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Zero point of deceleration 2 TOYOTA_ZP_DEC2Confirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Bits 8 to 15 of the reply, 8 bits. The value is signed.

Formula
(val ÷ 50)
Range
-2.56 to 2.54 g
Unit
g

Confirmed for 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

Zero point of yaw rate TOYOTA_ZERO_POINT_OF_YAW_RATE

  • Request21 A1
  • Service 21PID A1
  • Module7B0 → 7B8
  • Every3600 s
  • Testing

Bits 0 to 7 of the reply, 8 bits.

Formula
(val − 128)
Range
-128 to 127
Unit
Number

In testing for 2003, 2005 to 2007, 2009 to 2014. Not supported for 2004, 2008.

Zero point of yaw rate (degrees/sec) TOYOTA_ZP_YAWConfirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing

Example reply from a 2010 Toyota Matrix.

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 2010. In testing for 2003, 2005 to 2007, 2009, 2011 to 2014. Not supported for 2004, 2008.

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