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PITTSBURGH (KDKA/AP) &#; A judge has tossed out the case against one of two men accused of killing five people and an unborn baby at a backyard barbecue in Wilkinsburg almost four years ago.

Cheron Shelton, 33, and Robert Thomas, 31, are charged in the March killings.

(Sketch by Emily Goff)

(Sketch by Emily Goff)

The judge said Monday morning that after reviewing the papers and transcripts over the weekend, he decided to remove Thomas from the case due to a key witness who is no longer testifying.

Following the ruling, both the defense and prosecution asked the judge to dismiss the jury. However, the judge denied that motion.

WATCH: KDKA&#;s Amy Wadas Reports Live From The Courthouse

Detective Mike Adams was on routine patrol the night of the shooting.

He says he thought he heard gunshots go off so he stopped his car to listen.

During that time, he saw a man getting into a car, stared at him for several seconds, but they never made eye contact.

He says he took off when he heard a woman screaming, but made a mental note of the license plate.

The man in the car is believed to be Shelton, but Adams says it didn’t occur to him that that man was necessarily a suspect in the case at the time.

Thomas&#; attorney sought dismissal of the charges against his client after prosecutors decided against putting key Witness Number Three on the stand. That witness allegedly confessed to the killing of a month-old boy during a drive-by shooting at a separate picnic in the East Hills in

Prosecutors have said they plan to seek capital punishment if the defendants are convicted of first-degree murder.

(Source: Allegheny County)

The proceedings began at 9 a.m., and the commonwealth said Shelton fired 30 bullets.

They said it was a &#;brazen, vengeful, callous act.&#;

Defense attorney Randall McKinney said Shelton “played no role in what happened that night.&#;

One witness, Tonjia Cunningham, went to the barbecue with her friend Tina Shelton.

Tina Shelton was one of the victims who died.

WATCH: KDKA&#;s Pam Surano Reports Live From Outside The Allegheny County Jail.

Cunningham says she saw someone point a gun over the fence but couldn’t recognize who it was.

She managed to call and the call was played in court.

Shelton and Thomas are charged in the killing of five adults and an unborn child at the cookout on Franklin Avenue in The shooting injured three others, including a man who is paralyzed.

(Images Provided)

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Thomas is expected to walk out of the doors at the Allegheny County Jail on Tuesday.

Day two of the trial begins Tuesday at 9 a.m.

Stay with KDKA for the latest from inside the courtroom during the trial. We will be providing updates on-air and through social media.

(TM and © Copyright CBS Broadcasting Inc. All Rights Reserved. This material may not be published, broadcast, rewritten, or redistributed. The Associated Press contributed to this report.)

2
BUS PROTOCOLS

In this chapter, we’ll discuss the different bus protocols common in vehicle communications. Your vehicle may have only one of these, or if it was built earlier than , it may have none.

Bus protocols govern the transfer of packets through the network of your vehicle. Several networks and hundreds of sensors communicate on these bus systems, sending messages that control how the vehicle behaves and what information the network knows at any given time.

Each manufacturer decides which bus and which protocols make the most sense for its vehicle. One protocol, the CAN bus, exists in a standard location on all vehicles: on the OBD-II connector. That said, the packets themselves that travel over a vehicle’s CAN bus aren’t standardized.

Vehicle-critical communication, such as RPM management and braking, happens on high-speed bus lines, while noncritical communication, such as door lock and A/C control, happens on mid- to low-speed bus lines.

We’ll detail the different buses and protocols you may run across on your vehicle. To determine the bus lines for your specific vehicle, check its OBD-II pinout online.

The CAN Bus

CAN is a simple protocol used in manufacturing and in the automobile industry. Modern vehicles are full of little embedded systems and electronic control units (ECUs) that can communicate using the CAN protocol. CAN has been a standard on US cars and light trucks since , but it wasn’t made mandatory until ( for European vehicles). If your car is older than , it still may have CAN, but you’ll need to check.

CAN runs on two wires: CAN high (CANH) and CAN low (CANL). CAN uses differential signaling (with the exception of low-speed CAN, discussed in “The GMLAN Bus” on page 20), which means that when a signal comes in, CAN raises the voltage on one line and drops the other line an equal amount (see Figure ). Differential signaling is used in environments that must be fault tolerant to noise, such as in automotive systems and manufacturing.

Figure CAN differential signaling

Figure shows a signal captured using a PicoScope, which listens to both CANH (darker lines at the top of the graph) and CANL (lighter lines at the bottom of the graph). Notice that when a bit is transmitted on the CAN bus, the signal will simultaneously broadcast both 1V higher and lower. The sensors and ECUs have a transceiver that checks to ensure both signals are triggered; if they are not, the transceiver rejects the packet as noise.

The two twisted-pair wires make up the bus and require the bus to be terminated on each end. There’s a ohm resistor across both wires on the termination ends. If the module isn’t on the end of the bus, it doesn’t have to worry about termination. As someone who may tap into the lines, the only time you’ll need to worry about termination is if you remove a terminating device in order to sniff the wires.

The OBD-II Connector

Many vehicles come equipped with an OBD-II connector, also known as the diagnostic link connector (DLC), which communicates with the vehicle’s internal network. You’ll usually find this connector under the steering column or hidden elsewhere on the dash in a relatively accessible place. You may have to hunt around for it, but its outline looks similar to that in Figure

Figure Possible locations of the OBD-II connector

In some vehicles, you’ll find these connectors behind small access panels. They’ll typically be either black or white. Some are easy to access, and others are tucked up under the plastic. Search and you shall find!

Finding CAN Connections

CAN is easy to find when hunting through cables because its resting voltage is V. When a signal comes in, it’ll add or subtract 1V (V or V). CAN wires run through the vehicle and connect between the ECUs and other sensors, and they’re always in dual-wire pairs. If you hook up a multimeter and check the voltage of wires in your vehicle, you’ll find that they’ll be at rest at V or fluctuating by 1V. If you find a wire transmitting at V, it’s almost certainly CAN.

You should find the CANH and CANL connections on pins 6 and 14 of your OBD-II connector, as shown in Figure

Figure CAN pins cable view on the OBD-II connector

In the figure, pins 6 and 14 are for standard high-speed CAN lines (HS-CAN). Mid-speed and low-speed communications happen on other pins. Some cars use CAN for the mid-speed (MS-CAN) and low-speed (LS-CAN), but many vehicles use different protocols for these communications.

You’ll find that not all buses are exposed via the OBD-II connector. You can use wiring diagrams to help locate additional “internal” bus lines.

CAN Bus Packet Layout

There are two types of CAN packets: standard and extended. Extended packets are like standard ones but with a larger space to hold IDs.

Standard Packets

Each CAN bus packet contains four key elements:

Arbitration ID The arbitration ID is a broadcast message that identifies the ID of the device trying to communicate, though any one device can send multiple arbitration IDs. If two CAN packets are sent along the bus at the same time, the one with the lower arbitration ID wins.

Identifier extension (IDE) This bit is always 0 for standard CAN.

Data length code (DLC) This is the size of the data, which ranges from 0 to 8 bytes.

Data This is the data itself. The maximum size of the data carried by a standard CAN bus packet can be up to 8 bytes, but some systems force 8 bytes by padding out the packet.

Figure shows the format of standard CAN packets.

Figure Format of standard CAN packets

Because CAN bus packets are broadcast, all controllers on the same network see every