Reading and writing CAN messages through ELM327
Yes you can!

ELM 327 supports AT Commands (See this PDF ).
You can set filters for required CAN IDs or J1939 PGNs and it will return you corrosponding CAN Data over UART.

Check list of commands. They are self-explanatory.

P.S. ELM 327 has special command for DM1. DM1 is a J1939 PGN which has information about all active faults. Do check that!