Ford Mondeo CAN bus hacking

After building the CAN sniffer with Elduino CAN128 board I wanted to see CAN messages in my old Ford Mondeo.

After connecting the board to OBD2 connector and turning on the ignition I started seeing quite a few packets. This is a very good sign - it shows that the board is connected properly, CAN baud rate is correct and that the Arduino software works.

However, I have made a mistake when defining/passing the variable for message count, thus some of the counts show negative values. At the moment I am more interested in CAN message id's and data. At the beginning it looks like a lot of random numbers that make no sence. However, trying to play around with knobs, pedals and buttons makes the image a lot more clear. First of all I wanted to figure out if there is a message containing gas pedal position. This is the easiest data to spot - just pres/release the pedal and look for changing numbers in the screen. After pressing the pedal I saw that bytes D6-D7 change in the packet with ID 0x201. I saw that the value range is between 0x0000 and 0xc800, D6 is a high byte and D7 is low. Doing the same thing with all other inputs I have figured out the steering wheel position data, hand brake status an more:

Here is the screenshot of serial terminal with registered CAN messages