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DTC P16D5: F-CAN Malfunction (Internal Malfunction)
This code is indicating a internal electrical fault in the ECM or AKA PCM Engine control module.
U0100 is a loss of data communication with the ECM.
These codes set almost always indicate a failed ECM. The ECM has likely failed and will need to be changed out.
How many miles on the vehicle? If under 8 years or 80,000 miles the ECM should be covered under a extended warranty.