diff --git a/opendbc/can/common.cc b/opendbc/can/common.cc
index bb7b2ee56..93e71d5d9 100644
--- a/opendbc/can/common.cc
+++ b/opendbc/can/common.cc
@@ -112,6 +112,32 @@ struct CrcInitializer {
 
 static CrcInitializer crcInitializer;
 
+unsigned int mazda2019_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
+  uint8_t checksum = 0;
+  if (address == 0x220U) {
+    checksum = 0x2aU;
+  }
+  if (address == 0x249U) {
+    checksum = 0x53U;
+  }
+  // Simple XOR over the payload, except for the byte where the checksum lives.
+  for (int i = 0; i < 7; i++) {
+    checksum += d[i];
+  }
+  return checksum;
+}
+
+unsigned int mazda2017_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
+  uint8_t sum = 0;
+  if (d[5] & 0x5) {
+    sum = 0xFC;
+  }
+  for (int i = 0; i < d.size() - 1; i++) {
+    sum += d[i];
+  }
+  return ~sum & 0xFF;
+}
+
 unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
   // Volkswagen uses standard CRC8 8H2F/AUTOSAR, but they compute it with
   // a magic variable padding byte tacked onto the end of the payload.
diff --git a/opendbc/can/common.h b/opendbc/can/common.h
index 46b3159b9..18d5de9c6 100644
--- a/opendbc/can/common.h
+++ b/opendbc/can/common.h
@@ -33,6 +33,9 @@ unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const
 unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
 unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
 unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+unsigned int mazda2019_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+unsigned int mazda2017_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+
 
 class MessageState {
 public:
diff --git a/opendbc/can/common.pxd b/opendbc/can/common.pxd
index 4dab92cd5..7383fec60 100644
--- a/opendbc/can/common.pxd
+++ b/opendbc/can/common.pxd
@@ -21,8 +21,10 @@ cdef extern from "common_dbc.h":
     VOLKSWAGEN_MQB_CHECKSUM,
     XOR_CHECKSUM,
     SUBARU_CHECKSUM,
-    CHRYSLER_CHECKSUM
+    CHRYSLER_CHECKSUM,
     HKG_CAN_FD_CHECKSUM,
+    MAZDA2019_CHECKSUM,
+    MAZDA2017_CHECKSUM,
 
   cdef struct Signal:
     string name
diff --git a/opendbc/can/common_dbc.h b/opendbc/can/common_dbc.h
index 19507ecd4..289e39eb6 100644
--- a/opendbc/can/common_dbc.h
+++ b/opendbc/can/common_dbc.h
@@ -29,6 +29,8 @@ enum SignalType {
   SUBARU_CHECKSUM,
   CHRYSLER_CHECKSUM,
   HKG_CAN_FD_CHECKSUM,
+  MAZDA2019_CHECKSUM,
+  MAZDA2017_CHECKSUM,
 };
 
 struct Signal {
diff --git a/opendbc/can/dbc.cc b/opendbc/can/dbc.cc
index 44454b15f..4f2a86725 100644
--- a/opendbc/can/dbc.cc
+++ b/opendbc/can/dbc.cc
@@ -67,6 +67,10 @@ ChecksumState* get_checksum(const std::string& dbc_name) {
     s = new ChecksumState({8, -1, 7, -1, false, CHRYSLER_CHECKSUM, &chrysler_checksum});
   } else if (startswith(dbc_name, "comma_body")) {
     s = new ChecksumState({8, 4, 7, 3, false, PEDAL_CHECKSUM, &pedal_checksum});
+  } else if (startswith(dbc_name, "mazda_2019")) {
+    s = new ChecksumState({8, 8, 0, 0, true, MAZDA2019_CHECKSUM, &mazda2019_checksum});
+  } else if (startswith(dbc_name, "mazda_2017")) {
+    s = new ChecksumState({8, -1, 0, -1, true, MAZDA2017_CHECKSUM, &mazda2017_checksum});
   }
   return s;
 }
diff --git a/opendbc/mazda_2017.dbc b/opendbc/mazda_2017.dbc
index d2bb77b35..353023621 100644
--- a/opendbc/mazda_2017.dbc
+++ b/opendbc/mazda_2017.dbc
@@ -36,6 +36,21 @@ BS_:
 BU_: XXX
 
 
+BO_ 585 CAM_LKAS2: 8 XXX
+ SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
+ SG_ CHKSUM : 19|12@0+ (1,-2048) [0|2048] "" XXX
+ SG_ KEY : 39|32@0+ (1,0) [3294744159|3294744161] "" XXX
+
+BO_ 586 TI_FEEDBACK: 8 XXX
+ SG_ TI_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX
+ SG_ CHKSUM : 15|8@0+ (1,-127) [-127|128] "" XXX
+ SG_ VERSION_NUMBER : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 31|8@0+ (1,0) [0|3] "" XXX
+ SG_ VIOL : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ERROR : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ RAMP_DOWN : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SPARE : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 117 STEER_RELATED: 8 XXX
  SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX
@@ -57,6 +72,7 @@ BO_ 514 ENGINE_DATA: 8 XXX
  SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "%" XXX
 
 BO_ 357 PEDALS: 8 XXX
+ SG_ CRZ_AVAILABLE : 1|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_7 : 8|3@1+ (1,0) [0|7] "" XXX
  SG_ ACC_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
@@ -326,26 +342,6 @@ BO_ 1034 MSG_07: 8 XXX
  SG_ NEW_SIGNAL_8 : 39|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_9 : 31|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 870 RADAR_366_STATIC: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 867 RADAR_363: 8 XXX
- SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
- SG_ STATIC_4 : 43|16@0+ (1,0) [0|255] "" XXX
- SG_ FLIPPY_1 : 31|3@0+ (1,0) [0|7] "" XXX
- SG_ FLIPPY_2 : 47|1@0+ (1,0) [0|15] "" XXX
- SG_ FLIPPY_4 : 44|1@0+ (1,0) [0|3] "" XXX
- SG_ FLIPPY_3 : 46|1@0+ (1,0) [0|3] "" XXX
- SG_ CURVE_1 : 7|12@0+ (1,0) [0|255] "" XXX
- SG_ CURVE_2 : 11|12@0+ (1,0) [0|255] "" XXX
- SG_ CURVE_3 : 28|13@0+ (1,0) [0|255] "" XXX
-
 BO_ 130 STEER: 8 XXX
  SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
@@ -363,14 +359,6 @@ BO_ 304 GEAR_RELATED: 8 XXX
  SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 865 RADAR_DISTANCE: 8 XXX
- SG_ CTR : 56|4@1+ (1,0) [0|15] "" XXX
- SG_ STATIC : 36|3@0+ (1,0) [0|31] "" XXX
- SG_ DISTANCE_RELATED : 33|4@0+ (1,0) [0|3] "" XXX
- SG_ SPEED_INVERSE : 43|12@0- (-0.225,0) [0|255] "kph" XXX
- SG_ DISTANCE_LEAD : 7|24@0+ (1,0) [0|31] "" XXX
- SG_ RELATIVE_VEL_LEAD : 31|11@0- (1,0) [0|255] "" XXX
-
 BO_ 836 NEW_MSG_19: 8 XXX
  SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
  SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
@@ -383,17 +371,6 @@ BO_ 832 SEATBELT: 8 XXX
  SG_ NEW_SIGNAL_4 : 8|4@1+ (1,0) [0|3] "" XXX
  SG_ DRIVER_SEATBELT : 27|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 866 RADAR_TURN: 8 XXX
- SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ STEER_ANGLE : 43|12@0+ (-1,2048) [0|7] "" XXX
- SG_ STATIC_2 : 63|4@0+ (1,0) [0|15] "" XXX
- SG_ CURVE_1 : 7|12@0+ (1,0) [0|131071] "" XXX
- SG_ CURVE_2 : 11|12@0- (1,0) [0|127] "" XXX
- SG_ FLIPPY_1 : 44|1@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 34|3@1+ (1,0) [0|3] "" XXX
- SG_ CURVE_3 : 31|11@0- (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_1 : 33|4@0+ (1,0) [0|3] "" XXX
-
 BO_ 158 MSG_05: 8 XXX
  SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
@@ -511,26 +488,6 @@ BO_ 542 NEW_MSG_33: 8 XXX
  SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
  SG_ CTR2 : 56|4@1+ (1,0) [0|15] "" XXX
 
-BO_ 868 RADAR_364: 8 XXX
- SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 7|12@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 11|12@0- (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 27|12@0- (1,0) [0|255] "" XXX
- SG_ FLIPPERS_1 : 31|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ FLIPPY_1 : 46|1@0+ (1,0) [0|3] "" XXX
- SG_ STATIC_1 : 47|1@0+ (1,0) [0|15] "" XXX
- SG_ STATIC_2 : 43|16@0+ (1,0) [0|7] "" XXX
-
-BO_ 869 RADAR_365: 8 XXX
- SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 39|6@0+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_1 : 7|14@0+ (1,0) [0|65535] "" XXX
- SG_ RELATED_1 : 9|18@0+ (1,0) [0|3] "" XXX
- SG_ RELATED_2 : 33|18@0+ (1,0) [0|15] "" XXX
- SG_ STATIC : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|15] "" XXX
-
 BO_ 1114 NEW_MSG_4: 8 XXX
 
 BO_ 535 CURVE_CTRS: 8 XXX
@@ -555,37 +512,71 @@ BO_ 535 CURVE_CTRS: 8 XXX
  SG_ NEW_SIGNAL_4 : 9|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 540 CRZ_CTRL: 8 XXX
- SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
- SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
- SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
- SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 2|11@0+ (1,0) [0|1] "" XXX
  SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 16|1@0+ (1,0) [0|1] "" XXX
  SG_ CRZ_AVAILABLE : 17|1@0+ (1,0) [0|255] "" XXX
  SG_ DISTANCE_SETTING : 20|3@0+ (1,0) [0|7] "" XXX
- SG_ MSG_1_INV : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ MSG_1_COPY : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
- SG_ ACC_ACTIVE_2 : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ MSG_1 : 0|1@0+ (1,0) [0|3] "" XXX
- SG_ 5_SEC_DISABLE_TIMER : 45|3@0+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_3 : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ MSG_1_INV_COPY : 8|1@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_7 : 22|2@0+ (1,0) [0|3] "" XXX
  SG_ RADAR_HAS_LEAD : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_9 : 28|15@0+ (1,0) [0|16383] "" XXX
  SG_ RADAR_LEAD_RELATIVE_DISTANCE : 31|3@0+ (1,0) [0|5] "" XXX
+ SG_ NEW_SIGNAL_5 : 42|6@0+ (1,0) [0|3] "" XXX
+ SG_ DISABLE_TIMER_1 : 43|3@1+ (1,0) [0|7] "" XXX
+ SG_ DISABLE_TIMER_2 : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 49|3@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_ACTIVE_2 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 63|8@0+ (1,0) [0|3] "" XXX
 
 BO_ 539 CRZ_INFO: 8 XXX
- SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ STATUS : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ STATIC_1 : 15|11@0+ (1,0) [0|2047] "" XXX
+ SG_ ACCEL_CMD : 17|13@0+ (1,-4096) [0|8191] "" XXX
+ SG_ STATIC_2 : 18|3@1+ (1,0) [0|7] "" XXX
  SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX
  SG_ ACC_SET_ALLOWED : 34|1@0+ (1,0) [0|1] "" XXX
  SG_ CRZ_ENDED : 36|1@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL_CMD : 17|13@0+ (1,-4096) [0|1] "" XXX
- SG_ STATIC_1 : 15|11@0+ (1,0) [0|16383] "" XXX
- SG_ STATIC_2 : 18|3@1+ (1,0) [0|3] "" XXX
- SG_ ERROR_STATUS : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ STOPPING_MAYBE : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ MYSTERY_BIT : 47|1@0+ (1,0) [0|255] "" XXX
+ SG_ CTR1 : 51|4@0+ (1,0) [0|255] "" XXX
+ SG_ STOPPING_MAYBE2 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 865 RADAR_361: 8 XXX
+ SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ MSGS_2 : 39|12@0+ (1,0) [0|268435455] "" XXX
+ SG_ INVERSE_SPEED : 43|12@0- (1,0) [0|4095] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ BIT : 63|1@0+ (1,0) [0|15] "" XXX
+
+BO_ 866 RADAR_362: 8 XXX
+ SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ MSGS_2 : 39|12@0+ (1,0) [0|268435455] "" XXX
+ SG_ CLIPPED_STEER_ANGLE : 43|12@0+ (1,0) [0|4095] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 867 RADAR_363: 8 XXX
+ SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 868 RADAR_364: 8 XXX
+ SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 869 RADAR_365: 8 XXX
+ SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 870 RADAR_366: 8 XXX
+ SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1177 RADAR_499_STATIC: 8 XXX
 
 BO_ 121 EPB: 8 XXX
  SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
@@ -753,8 +744,6 @@ BO_ 1171 MOB3: 8 XXX
 
 BO_ 1248 MOB4: 8 XXX
 
-BO_ 1177 RADAR_499_STATIC: 8 XXX
-
 
 
 
diff --git a/opendbc/mazda_2019.dbc b/opendbc/mazda_2019.dbc
new file mode 100644
index 000000000..b6fe944b2
--- /dev/null
+++ b/opendbc/mazda_2019.dbc
@@ -0,0 +1,636 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 16 STEER_TORQUE_VB: 8 XXX
+ SG_ STEER_TORQUE_SENSOR : 5|13@0+ (1,-4000) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 7|2@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 8|13@0+ (0.05,-205) [0|15] "" XXX
+ SG_ BRAKE_PREASURE : 27|12@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX
+
+BO_ 17 STEER_TORQUE_VB_2: 8 XXX
+ SG_ STEER_TORQUE_MOTOR : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|14@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 45|6@0+ (1,0) [0|15] "" XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 18 STEER_VB: 8 XXX
+ SG_ STEER_ANGLE : 25|14@0- (1,375) [0|65536] "" XXX
+ SG_ STEER_LEFT_BIT : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ ENGINE_OFF : 43|2@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_2 : 53|6@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|2@0+ (1,0) [0|15] "" XXX
+
+BO_ 20 NEW_MSG_29: 8 XXX
+ SG_ RIGHT_BLINK_CLOCK : 23|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 22 CRZ_CTRL_BTNS: 8 XXX
+ SG_ SIGNAL : 45|1@0+ (1,0) [0|15] "" XXX
+ SG_ NOT_SIGNAL : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRZ_CTRL_BTN_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|3@0+ (1,0) [0|7] "" XXX
+
+BO_ 24 BRAKE_PEDAL_VB: 8 XXX
+ SG_ BRAKE_PEDAL_PRESSED_AND_ENGINE_ON : 0|1@0+ (1,0) [0|3] "" XXX
+ SG_ NOT_BRAKE_PEDAL_PRESSED : 6|1@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PEDAL_PRESSED : 7|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NOT_BRAKE_PEDAL_PRESSED_AND_ENGINE_ON : 15|1@0+ (1,0) [0|7] "" XXX
+
+BO_ 26 ENGINE_DATA_VB: 8 XXX
+ SG_ RPM : 7|13@0+ (1,0) [0|15] "" XXX
+ SG_ PEDAL_GAS : 39|10@0+ (1,0) [0|15] "" XXX
+ SG_ ENGINE_ON : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX
+
+BO_ 29 WHEEL: 8 XXX
+ SG_ ENCODER_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ENCODER_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ SPEED : 39|16@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STANDSTILL : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 31 GEAR_VB: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ GEAR : 36|4@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 37 BLANK_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 44 BLANK_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 59 STEER_RATE: 8 XXX
+ SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [-500|500] "" XXX
+ SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_ANGLE_RATE : 55|8@0+ (0.05,0) [0|65535] "" XXX
+
+BO_ 96 STEER2: 8 XXX
+ SG_ STEER__ : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ SPEED : 18|16@0- (0.00621371,-62.1371) [-65635|65635] "MPH" XXX
+ SG_ CAR_MOVING_FORWARD : 21|1@0+ (1,0) [0|15] "" XXX
+ SG_ CAR_REVERSING : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ ENGINE_OFF : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_OFF : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ ENGINE_ON : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_ON : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 45|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 117 NEW_MSG_31_MAIN: 8 XXX
+
+BO_ 120 BCM_ECHO_MAYBE: 8 XXX
+ SG_ EPS_MOTOR_TORQUE_MAYBE : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ BRAKE_MAYBE : 39|8@0+ (1,0) [0|65535] "" XXX
+
+BO_ 121 NEW_MSG_39: 8 XXX
+ SG_ NEW_SIGNAL_3 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|10@0+ (1,0) [0|3] "" XXX
+
+BO_ 128 RADARS: 8 XXX
+ SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|1@0+ (1,0) [0|255] "" XXX
+ SG_ REAR_LEFT : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RIGHT : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_LEFT : 19|1@0+ (1,0) [0|255] "" XXX
+ SG_ REAR_RIGHT : 20|1@0+ (1,0) [0|15] "" XXX
+ SG_ FRONT : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 129 NEW_MSG_19: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 130 STEER_ANGLE: 8 XXX
+ SG_ STEER_ANGLE : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 55|16@0- (1,0) [0|65535] "" XXX
+
+BO_ 133 NEW_MSG_35: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_12 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ IGNITION : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_10 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 22|1@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_18 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_15 : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_16 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_17 : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 28|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_11 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_13 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_14 : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 134 STEER: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ STEER_ANGLE : 25|14@0- (0.1,36) [0|1023] "" XXX
+
+BO_ 136 NEW_MSG_40: 8 XXX
+ SG_ NEW_SIGNAL_4 : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 36|13@0+ (1,0) [0|8191] "" XXX
+ SG_ NEW_SIGNAL_2 : 59|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 60|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 145 BLINK_INFO: 8 XXX
+ SG_ RIGHT_BLINK : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLINK : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ Speed : 27|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 155 NEW_MSG_43: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 157 CRZ_BTNS: 8 XXX
+ SG_ RES : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_M : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_P : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAN : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATIC_0 : 7|2@0+ (1,0) [0|7] "" XXX
+ SG_ STATIC_1 : 10|7@0+ (1,0) [0|15] "" XXX
+ SG_ MODE_LKAS : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_ACC : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ STATIC_2 : 19|32@0+ (1,0) [0|7] "" XXX
+ SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 56|8@1+ (1,0) [0|63] "" XXX
+
+BO_ 159 BRAKE_2: 8 XXX
+ SG_ REVERSE : 1|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 4|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|6@1+ (1,0) [0|15] "" XXX
+ SG_ BRAKE_NOT_PRESSED : 58|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PEDAL_PRESSED : 59|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 253 NEW_MSG_34: 8 XXX
+ SG_ NEW_SIGNAL_1 : 36|5@0+ (1,0) [0|31] "" XXX
+
+BO_ 256 CAM_Start: 8 XXX
+ SG_ DISTANCE_LEAD_CAR : 0|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 2|2@0+ (1,0) [0|1] "" XXX
+ SG_ ACTIVE_TARGET : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 20|12@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 44|12@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_7 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 61|2@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 257 LKAS: 8 XXX
+ SG_ LEAD_DIST : 0|12@0+ (1,0) [0|255] "" XXX
+ SG_ SET_19 : 2|2@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE_TARGET : 20|12@0+ (1,0) [0|4095] "" XXX
+ SG_ UNKNOWN : 24|12@0+ (1,0) [0|4095] "" XXX
+ SG_ MAX_TORQUE__ : 44|12@0- (1,0) [0|4095] "" XXX
+ SG_ SET_0 : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_ACT : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_0_1 : 63|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 258 NEW_MSG_3: 8 XXX
+ SG_ NEW_SIGNAL_6 : 1|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 13|10@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 18|10@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|10@0- (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 44|10@0- (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 259 NEW_MSG_5: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|12@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 19|11@0- (1,0) [0|10000000] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|10@0- (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 44|10@0- (1,0) [0|1] "" XXX
+
+BO_ 260 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 20|12@0- (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 24|12@0+ (1,0) [0|1] "" XXX
+
+BO_ 261 NEW_MSG_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 262 NEW_MSG_8: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0- (1,0) [0|255] "" XXX
+
+BO_ 263 NEW_MSG_9: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 264 NEW_MSG_2: 8 XXX
+ SG_ CRZ_CTRL_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 49|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 56|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 273 NEW_MSG_26: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|3] "" XXX
+
+BO_ 274 NEW_MSG_27: 8 XXX
+ SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 277 NEW_MSG_24: 8 XXX
+ SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 278 NEW_MSG_25: 8 XXX
+
+BO_ 288 NEW_MSG_30: 8 XXX
+
+BO_ 289 NEW_MSG_28: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 290 NEW_MSG_23: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|5@0+ (1,0) [0|255] "" XXX
+
+BO_ 291 NEW_MSG_22: 8 XXX
+ SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 292 NEW_MSG_18: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 293 NEW_MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 294 NEW_MSG_13: 8 XXX
+ SG_ NEW_SIGNAL_3 : 7|16@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|1] "" XXX
+
+BO_ 304 CAM_LANES: 8 XXX
+ SG_ DISTANCE_TO_LEFT_LANE : 1|10@0- (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_DETECTED : 4|1@0+ (1,0) [0|255] "" XXX
+ SG_ LEFT_LANE_DETECTED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE_TO_RIGHT_LANE : 23|10@0- (1,0) [0|2047] "" XXX
+ SG_ DISTANCE_TO_LEFT_LANE_LOW_RES : 29|8@0+ (1,0) [0|4095] "" XXX
+ SG_ DISTANCE_TO_RIGHT_LANE_LOW_RES : 37|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 305 CAM_LANES_2_MAYBE: 8 XXX
+ SG_ NEW_SIGNAL_4 : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 306 CAM_LANE_3_MAYBE: 8 XXX
+ SG_ STEER : 7|10@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 13|10@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 19|10@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_4 : 25|10@0+ (1,0) [0|1] "" XXX
+ SG_ LANE_DETECTED_1 : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ LANE_DETECTED_2 : 45|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 307 NEW_MSG_1: 8 XXX
+ SG_ NEW_SIGNAL_4 : 7|10@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 13|10@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 19|10@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 25|10@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 61|6@0+ (1,0) [0|1] "" XXX
+
+BO_ 308 ACC_POSSIBLY: 8 XXX
+ SG_ NEW_SIGNAL_2 : 0|7@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_6 : 4|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 18|7@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 36|7@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 54|7@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 310 NEW_MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 320 NEW_MSG_4: 8 XXX
+ SG_ NEW_SIGNAL_4 : 16|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 27|7@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 36|9@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 43|6@0+ (1,0) [0|1] "" XXX
+
+BO_ 321 NEW_MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 336 NEW_MSG_20: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_1 : 11|12@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 342 NEW_MSG_21: 8 XXX
+ SG_ NEW_SIGNAL_7 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|16@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 352 NEW_MSG_14: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 354 CAM_KEEP_ALIVE_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|30@0+ (1,0) [0|65535] "" XXX
+
+BO_ 355 NEW_MSG_15: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 356 NEW_MSG_16: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 357 NEW_MSG_17: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 358 CAM_End: 8 XXX
+ SG_ NEW_SIGNAL_4 : 11|14@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 512 NEW_MSG_32: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 514 ENGINE_DATA: 8 XXX
+ SG_ RPM : 7|14@0+ (1,0) [0|8191] "" XXX
+ SG_ NEW_SIGNAL_1 : 19|12@0+ (1,0) [0|255] "" XXX
+ SG_ PEDAL_GAS : 39|10@0+ (1,0) [0|65535] "" XXX
+ SG_ ENGINE_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 515 NEW_MSG_36: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|5@0+ (1,0) [0|31] "" XXX
+
+BO_ 529 NEW_MSG_31: 8 XXX
+ SG_ NEW_SIGNAL_3 : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 39|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 533 WHEEL_SPEEDS: 8 XXX
+ SG_ FL : 7|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ RL : 39|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
+
+BO_ 535 SPEED: 8 XXX
+ SG_ SPEED : 39|16@0+ (0.01,0) [0|65535] "" XXX
+
+BO_ 537 MANUAL_GEAR: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ GEAR : 33|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 544 ACC: 8 XXX
+ SG_ NEW_SIGNAL_2 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_11 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACCEL_CMD : 16|12@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_12 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ENABLED : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_10 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_9 : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ENABLED_2 : 36|1@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_13 : 40|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_8 : 45|4@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_7 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ HOLD : 49|1@0+ (1,0) [0|255] "" XXX
+ SG_ RESUME : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 546 ACC_2: 8 XXX
+ SG_ ACCEL_CMD : 0|12@0+ (1,0) [0|65535] "" XXX
+ SG_ ACC_NOT_ENABLED : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACC_ENABLED : 18|1@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_RELATED : 20|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|16@0+ (1,0) [0|65535] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 552 GEAR: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SHIFT : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ TORQUE_CONVERTER_LOCK : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 33|4@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR_SHIFT : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|6@1+ (1,0) [0|63] "" XXX
+
+BO_ 576 STEER_TORQUE: 8 XXX
+ SG_ STEER_TORQUE_SENSOR : 7|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 585 EPS_LKAS: 8 XXX
+ SG_ LKAS_REQUEST : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ STEER_FEEL : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 587 EPS_FEEDBACK: 8 XXX
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [0|65535] "" XXX
+ SG_ CPU_0_VIOL : 23|8@0+ (1,0) [0|15] "" XXX
+ SG_ CPU_1_VIOL : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CPU_2_VIOL : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CPU_3_VIOL : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CPU_1_STATE : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CPU_0_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CPU_3_STATE : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CPU_2_STATE : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 608 NEW_MSG_41: 8 XXX
+ SG_ NEW_SIGNAL_1 : 8|7@1+ (1,0) [0|15] "" XXX
+
+BO_ 1034 KEEP_ALIVE_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1067 NEW_MSG_33: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|3] "" XXX
+
+BO_ 1078 NEW_MSG_44: 8 XXX
+ SG_ IGNITION : 10|1@1+ (1,0) [0|255] "" XXX
+
+BO_ 1087 BRAKE_PEDAL: 8 XXX
+ SG_ NEW_SIGNAL_3 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PEDAL_PRESSED : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1098 CRUZE_STATE: 8 XXX
+ SG_ NEW_SIGNAL_7 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRZ_STATE : 6|3@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRZ_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DISTANCE_SETTING : 39|3@0+ (1,0) [0|4] "" XXX
+ SG_ NEW_SIGNAL_5 : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ STOCK_LKAS_MODE : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 45|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1103 NEW_MSG_42: 8 XXX
+ SG_ NEW_SIGNAL_1 : 12|12@0+ (1,0) [0|4095] "" XXX
+
+BO_ 1120 CAM_KEEP_ALIVE_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1167 SYSTEM_SETTINGS: 8 XXX
+ SG_ IMPERIAL_UNIT : 15|1@0- (1,0) [0|1] "" XXX
+
+BO_ 1200 KEEP_ALIVE_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1209 KEEP_ALIVE_1: 8 XXX
+ SG_ NEW_SIGNAL_8 : 4|5@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_7 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1216 CAM_69: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|12@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1436 CAM_71: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1866 NEW_MSG_37: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1867 EPS_FEEDBACK2: 8 XXX
+ SG_ HALL2 : 7|16@0- (-1,0) [0|65535] "" XXX
+ SG_ HALL3 : 23|16@0- (-1,0) [0|65535] "" XXX
+ SG_ HALL4 : 39|16@0- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 63|8@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1868 EPS_FEEDBACK3: 8 XXX
+ SG_ OUT1 : 7|16@0+ (1,-32767) [0|65535] "" XXX
+ SG_ OUT2 : 23|16@0- (1,0) [0|65535] "" XXX
+ SG_ OUT3 : 39|16@0- (-1,0) [0|65535] "" XXX
+ SG_ OUT4 : 55|16@0- (-1,0) [0|65535] "" XXX
+
+CM_ SG_ 31 GEAR "13-P, 12-R, 11-N, 1-6-D";
+VAL_ 31 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
+VAL_ 552 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D";
+VAL_ 537 GEAR 0 "P" 1 "D" 2 "R";
+VAL_ 552 GEAR_SHIFT 6 "6th" 5 "5th" 4 "4th" 3 "3rd" 2 "2nd" 1 "1st" 14 "Shift" 13 "Park" 11 "Neutral" 12 "Reverse";
+VAL_ 1098 CRZ_STATE 0 "CRUISE_DISABLED" 1 "CRUISE_READY" 2 "CRUISE_ENABLED" 4 "GAS_OVERRIDE";
+VAL_ 1098 DISTANCE_SETTING 4 "CLOSE" 3 "MEDIUM_CLOSE" 2 "MEDIUM_FAR" 1 "FAR" 0 "ACC_DISABLED";
\ No newline at end of file