Movement parameters
The Toyota Yaris has 40 movement parameters.
● Confirmed◆ In testing○ Supported× Not supported
Accelerator fully close learn 1 YARIS_ACCEL_FULLY_CLOSE_1Confirmed
- Request
21 41 - Service 21
PID 41 - Module
7E0 → 7E8 - Every
3600 s - Testing for 1998 to 2006, 2008 to 2026
Example reply from a 2007 Toyota Yaris.
Bits 16 to 23 of the reply, 8 bits.
0x65 = 101 → (101 × 125 ÷ 256) = 49.316406 °
- Formula
(val × 125 ÷ 256)- Range
- 0 to 124.5 °
- Unit
- °
Confirmed for 2007. In testing for 1998 to 2006, 2008 to 2026.
Accelerator fully close learn 2 YARIS_ACCEL_FULLY_CLOSE_2Confirmed
- Request
21 41 - Service 21
PID 41 - Module
7E0 → 7E8 - Every
3600 s - Testing for 1998 to 2006, 2008 to 2026
Bits 24 to 31 of the reply, 8 bits.
- Formula
(val × 125 ÷ 256)- Range
- 0 to 124.5 °
- Unit
- °
Confirmed for 2007. In testing for 1998 to 2006, 2008 to 2026.
Accelerator idle position on YARIS_ACCEL_IDLE_POS_ON
- Request
21 41 - Service 21
PID 41 - Module
7E0 → 7E8 - Every
3600 s - Testing for 1998 to 2006, 2008 to 2026
Bit 148 of the reply.
- Formula
val- Range
- 0 to 1
- Unit
- Number
In testing for 1998 to 2006, 2008 to 2026.
Accelerator position YARIS_ACCEL_POS
- Request
21 41 - Service 21
PID 41 - Module
7E0 → 7E8 - Every
3600 s - Testing for 1998 to 2006, 2008 to 2026
Bits 40 to 55 of the reply, 16 bits.
- Formula
(val × 25 ÷ 4096)- Range
- 0 to 399.9 %
- Unit
- %
In testing for 1998 to 2006, 2008 to 2026.
Accelerator sensor out, number 1 YARIS_ACCEL_SENS_OUT_1
- Request
21 41 - Service 21
PID 41 - Module
7E0 → 7E8 - Every
3600 s - Testing for 1998 to 2006, 2008 to 2026
Bits 72 to 79 of the reply, 8 bits.
- Formula
(val × 5 ÷ 256)- Range
- 0 to 4.98 V
- Unit
- V
In testing for 1998 to 2006, 2008 to 2026.
Accelerator sensor out, number 2 YARIS_ACCEL_SENS_OUT_2
- Request
21 41 - Service 21
PID 41 - Module
7E0 → 7E8 - Every
3600 s - Testing for 1998 to 2006, 2008 to 2026
Bits 80 to 87 of the reply, 8 bits.
- Formula
(val × 5 ÷ 256)- Range
- 0 to 4.98 V
- Unit
- V
In testing for 1998 to 2006, 2008 to 2026.
Average engine speed of all cylinders YARIS_AV_RPM_ALL_CYL
Pelican can show this parameter as the engine speed.
- Request
21 54 - Service 21
PID 54 - Module
7E0 → 7E8 - Every
250 ms - Testing
Bits 64 to 79 of the reply, 16 bits.
- Formula
(val × 25 ÷ 32)- Range
- 0 to 51199 rpm
- Unit
- rpm
In testing for 1998 to 2026.
Compressor speed YARIS_COMP_SPD
- Request
21 49 - Service 21
PID 49 - Module
7C4 → 7CC - Every
250 ms - Testing
Bits 0 to 15 of the reply, 16 bits.
- Formula
val- Range
- 0 to 65535 rpm
- Unit
- rpm
In testing for 1998 to 2026.
Compressor, target speed YARIS_COMP_TGT_SPD
- Request
21 4A - Service 21
PID 4A - Module
7C4 → 7CC - Every
250 ms - Testing
Bits 0 to 15 of the reply, 16 bits.
- Formula
val- Range
- 0 to 65535 rpm
- Unit
- rpm
In testing for 1998 to 2026.
Cruise control speed YARIS_CRUISE_CTRL_SPD
- Request
21 D3 - Service 21
PID D3 - Module
7E0 → 7E8 - Every
250 ms - Testing
Bits 8 to 15 of the reply, 8 bits.
- Formula
val- Range
- 0 to 255 km/h
- Unit
- km/h
In testing for 1998 to 2026.
Engine speed of cylinder 1 YARIS_RPM_CYL_1
- Request
21 54 - Service 21
PID 54 - Module
7E0 → 7E8 - Every
250 ms - Testing
Bits 0 to 15 of the reply, 16 bits.
- Formula
(val × 25 ÷ 32)- Range
- 0 to 51199 rpm
- Unit
- rpm
In testing for 1998 to 2026.
Engine speed of cylinder 2 YARIS_RPM_CYL_2
- Request
21 54 - Service 21
PID 54 - Module
7E0 → 7E8 - Every
250 ms - Testing
Bits 16 to 31 of the reply, 16 bits.
- Formula
(val × 25 ÷ 32)- Range
- 0 to 51199 rpm
- Unit
- rpm
In testing for 1998 to 2026.
Engine speed of cylinder 3 YARIS_RPM_CYL_3
- Request
21 54 - Service 21
PID 54 - Module
7E0 → 7E8 - Every
250 ms - Testing
Bits 32 to 47 of the reply, 16 bits.
- Formula
(val × 25 ÷ 32)- Range
- 0 to 51199 rpm
- Unit
- rpm
In testing for 1998 to 2026.
Engine speed of cylinder 4 YARIS_RPM_CYL_4
- Request
21 54 - Service 21
PID 54 - Module
7E0 → 7E8 - Every
250 ms - Testing
Bits 48 to 63 of the reply, 16 bits.
- Formula
(val × 25 ÷ 32)- Range
- 0 to 51199 rpm
- Unit
- rpm
In testing for 1998 to 2026.
Front left wheel acceleration YARIS_FL_WHEEL_ACCELERATIONConfirmed
- Request
21 42 - Service 21
PID 42 - Module
7B0 → 7B8 - Every
250 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023 to 2026
Example reply from a 2022 Toyota Yaris.
Bits 8 to 15 of the reply, 8 bits. The value is signed.
0x00 = 0 → (0 × 1.56906) = 0 m/s²
- Formula
(val × 1.56906)- Range
- -200.83 to 199.27 m/s²
- Unit
- m/s²
Confirmed for 2010, 2015, 2017, 2022. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023, 2026. Supported for 2007. Not supported for 2024 to 2025.
Front left wheel speed YARIS_FL_WHEEL_VSSConfirmed
- Request
22 10 75 - Service 22
DID 1075 - Module
7D2 → 7DA - Every
100 ms - Testing for 2026
Example reply from a 2025 Toyota Yaris.
Bits 16 to 31 of the reply, 16 bits.
0x8000 = 32768 → (32768 ÷ 100 − 327.68) = 0 km/h
- Formula
(val ÷ 100 − 327.68)- Range
- -327.68 to 327.67 km/h
- Unit
- km/h
Confirmed for 2024 to 2025. In testing for 2026. Not supported for 2007, 2010, 2015, 2017 to 2018, 2022 to 2023.
Front left wheel speed YARIS_TIRE_FL_SPDConfirmed
- Request
21 03 - Service 21
PID 03 - Module
7B0 → 7B8 - Every
250 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2019 to 2021, 2023, 2026
Example reply from a 2025 Toyota Yaris.
Bits 8 to 15 of the reply, 8 bits.
0x00 = 0 → (0 × 256 ÷ 200) = 0 km/h
- Formula
(val × 256 ÷ 200)- Range
- 0 to 326.4 km/h
- Unit
- km/h
Confirmed for 2007, 2010, 2015, 2017 to 2018, 2022, 2025. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2019 to 2021, 2026. Supported for 2024. Not supported for 2023.
Front left wheel speed? YARIS_FL_WHEEL_SPEED_OPENConfirmed
- Request
21 BE - Service 21
PID BE - Module
7B0 → 7B8 - Every
1 s - Testing for 1998 to 2009, 2011 to 2014, 2016 to 2021, 2023 to 2026
Example reply from a 2022 Toyota Yaris.
Bit 1 of the reply.
0b0 = 0 → 0
- Formula
val- Range
- 0 to 1
- Unit
- No or yes
Confirmed for 2010, 2015, 2022. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023, 2026. Not supported for 2007, 2017, 2024 to 2025.
Front right wheel acceleration YARIS_FR_WHEEL_ACCELERATIONConfirmed
- Request
21 42 - Service 21
PID 42 - Module
7B0 → 7B8 - Every
250 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023 to 2026
Example reply from a 2022 Toyota Yaris.
Bits 0 to 7 of the reply, 8 bits. The value is signed.
0x00 = 0 → (0 × 1.56906) = 0 m/s²
- Formula
(val × 1.56906)- Range
- -200.83 to 199.27 m/s²
- Unit
- m/s²
Confirmed for 2010, 2015, 2017, 2022. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023, 2026. Supported for 2007. Not supported for 2024 to 2025.
Front right wheel speed YARIS_FR_WHEEL_VSSConfirmed
- Request
22 10 75 - Service 22
DID 1075 - Module
7D2 → 7DA - Every
100 ms - Testing for 2026
Example reply from a 2025 Toyota Yaris.
Bits 0 to 15 of the reply, 16 bits.
0x8000 = 32768 → (32768 ÷ 100 − 327.68) = 0 km/h
- Formula
(val ÷ 100 − 327.68)- Range
- -327.68 to 327.67 km/h
- Unit
- km/h
Confirmed for 2024 to 2025. In testing for 2026. Not supported for 2007, 2010, 2015, 2017 to 2018, 2022 to 2023.
Front right wheel speed YARIS_TIRE_FR_SPDConfirmed
- Request
21 03 - Service 21
PID 03 - Module
7B0 → 7B8 - Every
250 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2019 to 2021, 2023, 2026
Example reply from a 2025 Toyota Yaris.
Bits 0 to 7 of the reply, 8 bits.
0x00 = 0 → (0 × 256 ÷ 200) = 0 km/h
- Formula
(val × 256 ÷ 200)- Range
- 0 to 326.4 km/h
- Unit
- km/h
Confirmed for 2007, 2010, 2015, 2017 to 2018, 2022, 2025. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2019 to 2021, 2026. Supported for 2024. Not supported for 2023.
Front right wheel speed? YARIS_FR_WHEEL_SPEED_OPENConfirmed
- Request
21 BE - Service 21
PID BE - Module
7B0 → 7B8 - Every
1 s - Testing for 1998 to 2009, 2011 to 2014, 2016 to 2021, 2023 to 2026
Example reply from a 2022 Toyota Yaris.
Bit 0 of the reply.
0b0 = 0 → 0
- Formula
val- Range
- 0 to 1
- Unit
- No or yes
Confirmed for 2010, 2015, 2022. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023, 2026. Not supported for 2007, 2017, 2024 to 2025.
High voltage, target engine speed YARIS_HIGH_V_TGT_RPM
- Request
21 49 - Service 21
PID 49 - Module
7E0 → 7E8 - Every
3600 s - Testing
Bits 16 to 23 of the reply, 8 bits.
- Formula
(val × 25)- Range
- 0 to 6375 rpm
- Unit
- rpm
In testing for 1998 to 2026.
Intercooler water pump speed, raw count YARIS_IWP_SPEED
- Request
22 10 75 - Service 22
DID 1075 - Module
700 → 708 - Every
1 s - Testing
Bits 0 to 15 of the reply, 16 bits.
- Formula
val- Range
- 0 to 65535
- Unit
- Number
In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023, 2026. Not supported for 2007, 2010, 2015, 2017, 2022, 2024 to 2025.
Minimum engine speed YARIS_MIN_RPM
- Request
21 52 - Service 21
PID 52 - Module
7E0 → 7E8 - Every
250 ms - Testing
Bits 32 to 47 of the reply, 16 bits.
- Formula
(val × 25 ÷ 32)- Range
- 0 to 51199 rpm
- Unit
- rpm
In testing for 1998 to 2026.
Rear left wheel acceleration YARIS_RL_WHEEL_ACCELERATIONConfirmed
- Request
21 42 - Service 21
PID 42 - Module
7B0 → 7B8 - Every
250 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023 to 2026
Example reply from a 2022 Toyota Yaris.
Bits 24 to 31 of the reply, 8 bits. The value is signed.
0x00 = 0 → (0 × 1.56906) = 0 m/s²
- Formula
(val × 1.56906)- Range
- -200.83 to 199.27 m/s²
- Unit
- m/s²
Confirmed for 2010, 2015, 2017, 2022. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023, 2026. Supported for 2007. Not supported for 2024 to 2025.
Rear left wheel speed YARIS_RL_WHEEL_VSSConfirmed
- Request
22 10 75 - Service 22
DID 1075 - Module
7D2 → 7DA - Every
100 ms - Testing for 2026
Example reply from a 2025 Toyota Yaris.
Bits 48 to 63 of the reply, 16 bits.
0x8000 = 32768 → (32768 ÷ 100 − 327.68) = 0 km/h
- Formula
(val ÷ 100 − 327.68)- Range
- -327.68 to 327.67 km/h
- Unit
- km/h
Confirmed for 2024 to 2025. In testing for 2026. Not supported for 2007, 2010, 2015, 2017 to 2018, 2022 to 2023.
Rear left wheel speed YARIS_TIRE_RL_SPDConfirmed
- Request
21 03 - Service 21
PID 03 - Module
7B0 → 7B8 - Every
250 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2019 to 2021, 2023, 2026
Example reply from a 2025 Toyota Yaris.
Bits 24 to 31 of the reply, 8 bits.
0x00 = 0 → (0 × 256 ÷ 200) = 0 km/h
- Formula
(val × 256 ÷ 200)- Range
- 0 to 326.4 km/h
- Unit
- km/h
Confirmed for 2007, 2010, 2015, 2017 to 2018, 2022, 2025. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2019 to 2021, 2026. Supported for 2024. Not supported for 2023.
Rear left wheel speed? YARIS_RL_WHEEL_SPEED_OPENConfirmed
- Request
21 BE - Service 21
PID BE - Module
7B0 → 7B8 - Every
1 s - Testing for 1998 to 2009, 2011 to 2014, 2016 to 2021, 2023 to 2026
Example reply from a 2022 Toyota Yaris.
Bit 3 of the reply.
0b0 = 0 → 0
- Formula
val- Range
- 0 to 1
- Unit
- No or yes
Confirmed for 2010, 2015, 2022. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023, 2026. Not supported for 2007, 2017, 2024 to 2025.
Rear right wheel acceleration YARIS_RR_WHEEL_ACCELERATIONConfirmed
- Request
21 42 - Service 21
PID 42 - Module
7B0 → 7B8 - Every
250 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023 to 2026
Example reply from a 2022 Toyota Yaris.
Bits 16 to 23 of the reply, 8 bits. The value is signed.
0x00 = 0 → (0 × 1.56906) = 0 m/s²
- Formula
(val × 1.56906)- Range
- -200.83 to 199.27 m/s²
- Unit
- m/s²
Confirmed for 2010, 2015, 2017, 2022. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023, 2026. Supported for 2007. Not supported for 2024 to 2025.
Rear right wheel speed YARIS_RR_WHEEL_VSSConfirmed
- Request
22 10 75 - Service 22
DID 1075 - Module
7D2 → 7DA - Every
100 ms - Testing for 2026
Example reply from a 2025 Toyota Yaris.
Bits 32 to 47 of the reply, 16 bits.
0x8000 = 32768 → (32768 ÷ 100 − 327.68) = 0 km/h
- Formula
(val ÷ 100 − 327.68)- Range
- -327.68 to 327.67 km/h
- Unit
- km/h
Confirmed for 2024 to 2025. In testing for 2026. Not supported for 2007, 2010, 2015, 2017 to 2018, 2022 to 2023.
Rear right wheel speed YARIS_TIRE_RR_SPDConfirmed
- Request
21 03 - Service 21
PID 03 - Module
7B0 → 7B8 - Every
250 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2019 to 2021, 2023, 2026
Example reply from a 2025 Toyota Yaris.
Bits 16 to 23 of the reply, 8 bits.
0x00 = 0 → (0 × 256 ÷ 200) = 0 km/h
- Formula
(val × 256 ÷ 200)- Range
- 0 to 326.4 km/h
- Unit
- km/h
Confirmed for 2007, 2010, 2015, 2017 to 2018, 2022, 2025. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2019 to 2021, 2026. Supported for 2024. Not supported for 2023.
Rear right wheel speed? YARIS_RR_WHEEL_SPEED_OPENConfirmed
- Request
21 BE - Service 21
PID BE - Module
7B0 → 7B8 - Every
1 s - Testing for 1998 to 2009, 2011 to 2014, 2016 to 2021, 2023 to 2026
Example reply from a 2022 Toyota Yaris.
Bit 2 of the reply.
0b0 = 0 → 0
- Formula
val- Range
- 0 to 1
- Unit
- No or yes
Confirmed for 2010, 2015, 2022. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014, 2016, 2018 to 2021, 2023, 2026. Not supported for 2007, 2017, 2024 to 2025.
Speed YARIS_VSS_7C0Confirmed
Pelican can show this parameter as the speed.
- Request
21 21 - Service 21
PID 21 - Module
7C0 → 7C8 - Every
250 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2013, 2016, 2018 to 2021, 2023 to 2026
Example reply from a 2022 Toyota Yaris.
Bits 0 to 7 of the reply, 8 bits.
0x00 = 0 → 0 km/h
- Formula
val- Range
- 0 to 255 km/h
- Unit
- km/h
Confirmed for 2010, 2014 to 2015, 2017, 2022. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2013, 2016, 2018 to 2021, 2023, 2026. Supported for 2007. Not supported for 2024 to 2025.
Vehicle speed VSSSAE J1979Confirmed
Pelican can show this parameter as the speed.
- Request
01 0D - Service 01
PID 0D - Module
7E0 → 7E8 - Every
250 ms
Bits 0 to 7 of the reply, 8 bits.
- Formula
val- Range
- 0 to 255 km/h
- Unit
- km/h
Confirmed for 2018, 2022. Supported for 2006 to 2008, 2010, 2013, 2015, 2017, 2020 to 2021, 2023 to 2025.
Vehicle speed YARIS_VEHICLE_SPEED_7E0Confirmed
Pelican can show this parameter as the speed.
- Request
21 01 - Service 21
PID 01 - Module
7E0 → 7E8 - Every
1 s - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2014
Example reply from a 2015 Toyota Yaris.
Bits 88 to 95 of the reply, 8 bits.
0x00 = 0 → 0 km/h
- Formula
val- Range
- 0 to 255 km/h
- Unit
- km/h
Confirmed for 2015. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2014. Supported for 2007, 2010.
Vehicle speed YARIS_VEHICLE_SPEED_7E0_V2Confirmed
Pelican can show this parameter as the speed.
- Request
21 01 - Service 21
PID 01 - Module
7E0 → 7E8 - Every
1 s - Testing for 2018 to 2020
Example reply from a 2017 Toyota Yaris.
Bits 96 to 103 of the reply, 8 bits.
0x4C = 76 → 76 km/h
- Formula
val- Range
- 0 to 255 km/h
- Unit
- km/h
Confirmed for 2017. In testing for 2018 to 2020.
Vehicle speed YARIS_VEHICLE_SPEED_7E0_V3Confirmed
Pelican can show this parameter as the speed.
- Request
21 01 - Service 21
PID 01 - Module
7E0 → 7E8 - Every
1 s - Testing for 2023, 2025 to 2026
Example reply from a 2024 Toyota Yaris.
Bits 88 to 95 of the reply, 8 bits.
0x00 = 0 → 0 km/h
- Formula
val- Range
- 0 to 255 km/h
- Unit
- km/h
Confirmed for 2022, 2024. In testing for 2023, 2026. Not supported for 2025.
Vehicle speed YARIS_VSSConfirmed
Current vehicle speed.
Pelican can show this parameter as the speed.
- Request
21 21 - Service 21
PID 21 - Module
7B0 → 7B8 - Every
200 ms - Testing for 1998 to 2006, 2008 to 2009, 2011 to 2013, 2016, 2019 to 2021, 2023, 2026
Example reply from a 2025 Toyota Yaris.
Bits 0 to 7 of the reply, 8 bits.
0x00 = 0 → (0 × 1.35) = 0 km/h
- Formula
(val × 1.35)- Range
- 0 to 323.85 km/h
- Unit
- km/h
Confirmed for 2007, 2010, 2014 to 2015, 2017 to 2018, 2022, 2025. In testing for 1998 to 2006, 2008 to 2009, 2011 to 2013, 2016, 2019 to 2021, 2026. Supported for 2024. Not supported for 2023.
Vehicle speed YARIS_VSS_V2Confirmed
Pelican can show this parameter as the speed.
- Request
22 1F 0D - Service 22
DID 1F0D - Module
7D2 → 7DA - Every
250 ms - Testing for 2026
Example reply from a 2025 Toyota Yaris.
Bits 0 to 7 of the reply, 8 bits.
0x00 = 0 → 0 km/h
- Formula
val- Range
- 0 to 255 km/h
- Unit
- km/h
Confirmed for 2024 to 2025. In testing for 2026. Not supported for 2007, 2010, 2015, 2017 to 2018, 2022.