CAN Bus

Integration with onboard vehicle computers (ECU) through CAN protocol.

What is it for?

Use case	Description
🚛 Fleet telemetry	RPM, speed, consumption, engine temperature
⛽ Fuel control	Tank level, instantaneous consumption, odoliter
🔧 Diagnostics	Fault codes (DTC), engine status
🚌 Public transportation	Integration with buses and heavy vehicles
🏗️ Machinery	Engine hours, load, hydraulic pressure

Description

Rinho Telematics devices are equipped with an integrated CAN transceiver, which allows them to connect and communicate with onboard vehicle computers (ECU). Through this connection, it is possible to obtain detailed information about the vehicle’s status and telemetry.

To configure CAN protocol, connection speed and capture control, use the CXCAN command.

Reading Commands

Preformatted Reports (QCAN)

Commands that return multiple parameters in specific formats:

Command	Name	Description
CAN00	Engine Report (ER)	J1939 parameters - Engine and consumption
CAN01	Engine Quick (EQ)	OBD-II parameters with VIN
CAN02	EBS Report	Trailer brake system
CAN03	CAN Data	Fixed width format for Ux
CAN05	MAF Report	FuelRate and airflow

Individual Reading

Command	Description
ECU	Flexible reading of any CAN variable

Configuration Commands

Command	Description
CXCAN	CAN protocol, speed and enablement
CXECU	Custom parsers for CAN data

Supported Protocols

Protocol	Typical Speed	Vehicles
J1939	250 kbps	Trucks, buses, machinery
J1850	10.4/41.6 kbps	Old American vehicles
OBD-II	500 kbps	Light vehicles post-1996
ISO 15765	250/500 kbps	European vehicles

How to Report CAN Data to Server

To send CAN data to your tracking platform you have two strategies:

Strategy	Method	Ideal for
🚀 Fast	EQ / ER reports	Integrations with Wialon, RedGPS, existing platforms
⭐ Optimized	Ux + UC + ECU	New projects, data optimization

Method 1: Preset Reports (EQ / ER)

The EQ and ER reports are extended reports that automatically include all CAN01 and CAN00 data respectively.


// Generate ER report (Extended + CAN00 for J1939)
>GER00H<
 
// Response includes all CAN data at the end
>RER00090719144856-2778101-06425853000214FF00115000...;2010=1000.00,5000=0.00,1030=10000.00,4201=50.00,1020=20000.00,1010=60.00,2012=15.00,2013=100.00,2020=13.00,3010=0.13;ID=037222;*5A<

Advantages	Limitations
✅ Immediate implementation	❌ Fixed parameter set (cannot be chosen)
✅ Compatible with Wialon, RedGPS	❌ Longer frame (more data = more cost)
✅ No additional configuration	❌ Format with numeric IDs difficult to interpret

When to use EQ/ER? When you need quick integration with platforms that already support these formats (Wialon, RedGPS, etc.) and you don’t care about frame size.

Method 2: Custom User Reports (Ux + UC + ECU) ⭐ Recommended

The combination of user reports Ux, UC configuration and individual ECU readings allows creating optimized and clear reports for each application.

You choose which parameters to include and how to name them.


// Configure U0 report: HQ position + only the CAN parameters I need
>SUC00 $RHQ| #| QHQ,5| $;PA=| $c0:| QECU00,7|$c2:| QECU02,7|$c4:| QECU04,7|$c6:| QECU06,7|$c7:| QECU07,7<
 
// Result: compact frame with descriptive names
>RHQ00311225161305-2778104-06425850000348FF00125000000A3030105FFFF1120315000081DF;PA=c0:1850,c2:72,c4:15230.00,c6:89,c7:420;ID=865413053386354;*44<

Advantages	Considerations
✅ Only the parameters you need	Requires initial configuration
✅ Custom field names (c0, c2, etc.)	Needs parser development on server
✅ Shorter frames (less data cost)
✅ Easy to parse on server

Recommendation: For new projects, use this method. It allows you to optimize data consumption and have a clear and easy-to-process format.

Complete Example: Custom Report for Heavy Vehicles

Step 1: Configure UC00 report


>SUC00 $RHQ| #| QHQ,5| $;PA=| $c0:| QECU00,7|$c2:| QECU02,7|$c4:| QECU04,7|$c6:| QECU06,7|$c7:| QECU07,7<

What does each part do?

Element	Function
`$RHQ`	”RHQ” prefix to identify report type
`#`	Inserts the event number that triggered the report
`QHQ,5`	Includes HQ report (position + odometer) from character 5
`$;PA=`	Adds separator and text “;PA=“
`$c0:`	Adds text “c0:” as label
`QECU00,7`	Reads RPM and takes from character 7 (value only)
…	Repeats for each CAN parameter

Step 2: Test with simulated values


>SECU00,1850<   // RPM = 1850
>SECU02,72<     // Fuel = 72%
>SECU04,15230<  // Odoliter = 15230 L
>SECU06,89<     // Temperature = 89°C
>SECU07,420<    // Oil pressure = 420 kPa

Step 3: Query the report


>QU0<

Result


>RHQ00311225161305-2778104-06425850000348FF00125000000A3030105FFFF1120315000081DF;PA=c0:1850,c2:72,c4:15230.00,c6:89,c7:420;ID=865413053386354;*44<

Frame interpretation:

Field	Value	Description
`RHQ00`	00	Event number 00
`311225161305`	31/12/25 16:13:05	Date and time
`-2778104`	-27.78104°	Latitude
`-06425850`	-64.25850°	Longitude
`0003`	3 km/h	Speed
`48`	48°	Heading
`FF`	0xFF	Digital inputs (all active)
`00`	0x00	Digital outputs
`125`	12.5V	Battery voltage
`;PA=`		Additional CAN Parameters:
`c0:1850`	1850 RPM	Engine revolutions
`c2:72`	72%	Fuel level
`c4:15230.00`	15.230 L	Total consumption (odoliter)
`c6:89`	89°C	Engine temperature
`c7:420`	420 kPa	Oil pressure

Comparison of Both Methods

Criteria	EQ/ER (Method 1)	Ux+UC+ECU (Method 2)
Configuration	None	Requires SUC
Parameters	Fixed (all)	Selectable
Frame size	~200+ characters	~145 characters
Field names	Numeric IDs (2010, 5000…)	Custom (c0, c2…)
Server parsing	Complex	Simple
Compatibility	Wialon, RedGPS	Custom development
Recommended for	Legacy integrations	New projects

CAN Query Commands (for diagnostics)

The QCAN00-QCAN05 commands allow direct CAN value queries, useful for diagnostics and verification:


>QCAN00<
>RCAN00 2010=1500,5000=25,1030=15000.00,4201=75,...<

See documentation for each command: CAN00, CAN01, CAN02, CAN03, CAN05.