Protocol details for tapping into CAN bus

[Hurr.ay]

I'm digging into the wiring on my 2008 Toyota 4Runner because I want to add some custom electronics but I'd like to pull info straight from the CAN bus instead of running a spaghetti mess of separate sensors. Toyota uses a variant of the CAN protocol right?, I'm trying to figure out the exact specs and whether they're easily accessible from the OBD-II port or if I need to tap into a different harness. I've seen conflicting info about Toyota using 500 kbps on the OBD port but also running a separate, lower speed bus for body electronics.

I need to identify which messages were which, any help would be appreciated

 

[Sharp-Plate35]

You're right, Toyota uses regular CAN at 500 kbps on the OBD-II port for engine and driving info. But things like lights and doors use a slower CAN line, around 33.3 kbps, and that's usually not on the OBD port. You might need to connect to wires behind the dashboard or near the body control module. A tool like SavvyCAN or one that works with SocketCAN can help you find and read the messages. Try looking for door or ignition signals first, they're easier to find.

 

[ringforger]

I have an older 4runner, so this probably isn't something I can start considering, but I'm curious. What kind of electronics are you looking to add?