Can Frames - cotos/OSCC GitHub Wiki

There are a number of different CAN buses present on the Kia Soul. This page captures what is known about the various CAN frames the C-CAN bus hosts on the Kia Soul. The C-CAN bus on the Kia Soul is accessible through the OBD connector on pin 6 (CAN High) and pin 14 (CAN Low) The currently understood CAN frames are:

• [Turn Signals](#Turn Signals)
• [Steering Wheel Angle](#Steering Wheel Angle)
• [Wheel Speeds](#Wheel Speeds)
• [Brake Pressure](#Brake Pressure)

Turn Signals

CAN ID = 0x18

• Left turn: Byte5 = 0xc0
• Right turn: Byte5 0xA0

Steering Wheel Angle

CAN ID = 0x2B0

Scale Factor = 10

• Steering Angle (degrees) = (Byte0 + Byte1 << 8) / Scale Factor

Wheel Speeds

CAN ID = 0x4B0

Scale Factor = 128

• LF Wheel Speed (mpg) = (Byte0 + Byte1 <<8) / Scale Factor
• RF Wheel Speed (mpg) = (Byte2 + Byte3 <<8) / Scale Factor
• LR Wheel Speed (mpg) = (Byte4 + Byte5 <<8) / Scale Factor
• RR Wheel Speed (mpg) = (Byte6 + Byte7 <<8) / Scale Factor

Brake Pressure

CAN ID = 0x220

Scale Factor = ~10

• Master Cylinder Pressure (bar) = (Byte4 + Byte 5 <<8) / Scale Factor