Do you know what Protocol it uses (I couldn't find it, but) Maybe use this article as reference and figure out which protocol your Rav takes and find a scanner to match and see if it will read a diesel. Odd that the 2004's are well represented but not 2002!
obdstation.com

Which OBD2 Protocol Is Supported By My Vehicle? - OBD Station
OBD2 is a term that is used in the automotive industry to address the onboard diagnostics system. How to check the OBD2 protocol on your car?
