F150 Lightning Torque App and PID list

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Ahh, I guess you can program the PCAN directly over the Lighting's CAN?

I'd be somewhat confident in using an off the shelf micro and programming it via UART or whatever while it's hooked up to the can bus and I'm sitting in my driveway, and letting the system freak out for a moment while it's flashing (or jerry rig a simple bypass to limit interruption time). Although I guess the PCAN will handle message pass through right out of the box and while flashing?

Yes, and PEAK (since they make lots of professional CAN tools) made the bootloader/firmware flash tool where it works right through Ford's OBD2 gateway module so you don't need to even access the router really to update it. It's one step away from even being compatible with FDRS/FORScan. This is actually a goal of mine, to re-write the bootloader to accept firmware straight from FORScan. But getting FORScan to play nice with modules it's not programmed to recognize would also be an issue, my module shows up in FORScan when it scans b/c I've programmed it to respond to the standard Mode 01 PID 0 request, but FORScan doesn't allow MFU or any other features b/c it doesn't have any knowledge of my module.

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