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Toyota 4Runner

Orientation parameters

The Toyota 4Runner has 13 orientation parameters.

● Confirmed◆ In testing○ Supported× Not supported

How to read a parameter card

Deceleration 4RUNNER_DECELConfirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2012, 2014, 2017 to 2019, 2021 to 2026

Example reply from a 2020 Toyota 4Runner.

Bits 0 to 7 of the reply, 8 bits.

0x7D = 125 → (125 × 36.36 ÷ 255 − 18.18) = -0.356471 m/s²

Formula
(val × 36.36 ÷ 255 − 18.18)
Range
-18.18 to 18.18 m/s²
Unit
m/s²

Confirmed for 2015 to 2016, 2020. In testing for 1988 to 2012, 2014, 2017 to 2019, 2021 to 2024, 2026. Supported for 2013. Not supported for 2025.

  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 4RUNNER_DECELConfirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2012, 2014, 2017 to 2019, 2021 to 2026

Example reply from a 2020 Toyota 4Runner.

Bits 0 to 7 of the reply, 8 bits.

0x7D = 125 → (125 × 36.36 ÷ 255 − 18.18) = -0.356471 m/s²

Formula
(val × 36.36 ÷ 255 − 18.18)
Range
-18.18 to 18.18 m/s²
Unit
m/s²

Confirmed for 2015 to 2016, 2020. In testing for 1988 to 2012, 2014, 2017 to 2019, 2021 to 2024, 2026. Supported for 2013. Not supported for 2025.

Deceleration 2 4RUNNER_DECEL_2Confirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2012, 2014, 2017 to 2019, 2021 to 2026

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 to 2016, 2020. In testing for 1988 to 2012, 2014, 2017 to 2019, 2021 to 2024, 2026. Supported for 2013. Not supported for 2025.

Deceleration open 4RUNNER_DECELERATION_OPENConfirmed

  • Request21 BE
  • Service 21PID BE
  • Module7B0 → 7B8
  • Every1 s
  • Testing for 1988 to 2010, 2014, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

Bit 6 of the reply.

0b0 = 0 → 0

Formula
val
Range
0 to 1
Unit
No or yes

Confirmed for 2011 to 2013, 2015 to 2024. In testing for 1988 to 2003, 2005 to 2010, 2014. Not supported for 2004, 2025 to 2026.

Lateral g 4RUNNER_LAT_GConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2010, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

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 2011 to 2024. In testing for 2007 to 2009. Not supported for 2004 to 2006, 2010, 2025 to 2026.

Longitudinal g 4RUNNER_LNG_GConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2010, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

Bits 8 to 15 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 2011 to 2024. In testing for 2007 to 2009. Not supported for 2004 to 2006, 2010, 2025 to 2026.

Yaw rate value (degrees/sec) 4RUNNER_YAW_RATEConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2010, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

Bits 16 to 23 of the reply, 8 bits.

0x6C = 108 → (108 − 128) = -20 °

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

Confirmed for 2011 to 2024. In testing for 2007 to 2009. Not supported for 2004 to 2006, 2010, 2025 to 2026.

Yaw rate, error? 4RUNNER_YAW_RATE_OPEN_ERRORConfirmed

  • Request21 BE
  • Service 21PID BE
  • Module7B0 → 7B8
  • Every1 s
  • Testing for 1988 to 2010, 2014, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

Bit 5 of the reply.

0b0 = 0 → 0

Formula
val
Range
0 to 1
Unit
No or yes

Confirmed for 2011 to 2013, 2015 to 2024. In testing for 1988 to 2003, 2005 to 2010, 2014. Not supported for 2004, 2025 to 2026.

Yaw rate, sensor 1 4RUNNER_YAW_1Confirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2010, 2014, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

Bits 0 to 7 of the reply, 8 bits.

0x79 = 121 → (121 − 128) = -7

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

Confirmed for 2011 to 2013, 2015 to 2024. In testing for 1988 to 2003, 2005 to 2010, 2014. Not supported for 2004, 2025 to 2026.

Yaw rate, sensor 2 4RUNNER_YAW_2Confirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2010, 2014, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

Bits 8 to 15 of the reply, 8 bits.

0x79 = 121 → (121 − 128) = -7

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

Confirmed for 2011 to 2013, 2015 to 2024. In testing for 1988 to 2003, 2005 to 2010, 2014. Not supported for 2004, 2025 to 2026.

Zero point of deceleration 4RUNNER_ZP_DECConfirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2010, 2014, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

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 2011 to 2013, 2015 to 2024. In testing for 1988 to 2003, 2005 to 2010, 2014. Not supported for 2004, 2025 to 2026.

Zero point of deceleration 2 4RUNNER_ZP_DEC2Confirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2010, 2014, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

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 2011 to 2013, 2015 to 2024. In testing for 1988 to 2003, 2005 to 2010, 2014. Not supported for 2004, 2025 to 2026.

Zero point of yaw rate 4RUNNER_ZERO_POINT_OF_YAW_RATEConfirmed

  • Request21 A1
  • Service 21PID A1
  • Module7B0 → 7B8
  • Every3600 s
  • Testing for 1988 to 2012, 2014, 2017 to 2019, 2021 to 2026

Example reply from a 2020 Toyota 4Runner.

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 to 2016, 2020. In testing for 1988 to 2012, 2014, 2017 to 2019, 2021 to 2024, 2026. Supported for 2013. Not supported for 2025.

Zero point of yaw rate (degrees/sec) 4RUNNER_ZP_YAWConfirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 1988 to 2010, 2014, 2025 to 2026

Example reply from a 2024 Toyota 4Runner.

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 2011 to 2013, 2015 to 2024. In testing for 1988 to 2003, 2005 to 2010, 2014. Not supported for 2004, 2025 to 2026.

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