BigUI WIP: One more

pan

.github/workflows/compile_bluescreens.yaml

@@ -165,6 +165,10 @@ jobs:
               "panda/board/obj/panda_h7.bin.signed"
               "panda/board/obj/panda_remote.bin.signed"
               "panda/board/obj/panda_h7_remote.bin.signed"
+              "panda/board/obj/panda_can_ignition_only.bin.signed"
+              "panda/board/obj/panda_h7_can_ignition_only.bin.signed"
+              "panda/board/obj/panda_remote_can_ignition_only.bin.signed"
+              "panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed"
               "panda/board/obj/panda_jungle_h7.bin.signed"
               "panda/board/obj/body_h7.bin.signed"
             )

.gitignore

@@ -68,6 +68,7 @@ cppcheck_report.txt
 comma*.sh
 
 selfdrive/modeld/models/*.pkl
+!selfdrive/modeld/models/driving_tinygrad.pkl
 !selfdrive/modeld/models/driving_vision_tinygrad.pkl
 !selfdrive/modeld/models/driving_policy_tinygrad.pkl
 !selfdrive/modeld/models/driving_vision_metadata.pkl

README.md

@@ -1,7 +1,7 @@
 # StarPilot
 
 [![Ask DeepWiki](https://deepwiki.com/badge.svg)](https://deepwiki.com/firestar5683/StarPilot)
-[![Discord](https://img.shields.io/discord/1137853399715549214?label=Discord)](https://firestar.link/discord)
+[![Discord](https://img.shields.io/discord/1387432184121393333?label=Discord)](https://firestar.link/discord)
 [![Last Updated](https://img.shields.io/github/last-commit/firestar5683/StarPilot/StarPilot)](https://github.com/firestar5683/StarPilot)
 [![Wiki](https://img.shields.io/badge/Wiki-StarPilot-blue?logo=wiki)](https://wiki.firestar.link)
 
@@ -15,11 +15,11 @@ Openpilot provides
 * Lane Change Assist
 * Driver Monitoring *without wheel nags*
 
-StarPilot adds support for many GM vehicles along with improved tuning,
-especially for radar-less (camera only) vehicles.
+StarPilot was formerly a GM targeted fork,
+but [has expanded to offer Quality-Of-Life improvements for all](#features)!
 
-StarPilot is built off of [StarPilot](https://github.com/FrogAi/StarPilot)
-and supports the major features StarPilot offers.
+StarPilot is built off of [FrogPilot](https://github.com/FrogAi/FrogPilot)
+and supports the major features FrogPilot offers.
 
 StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
 Stop by to chat or ask questions!
@@ -32,9 +32,9 @@ installation guides, and software configuration.
 ## Features
 
 * Full support for Comma C3, C3X, and C4
-  * C4 is currently in release testing. Join our fleet of C4 testers!
 * Model switcher with all of comma's tinygrad driving models
 * Special longitudinal planner tuning for VoACC (visual only, radar-less) vehicles
+* Custom-tuned torque controllers for an expanding list of cars.
 * Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere.
 Download models, change settings, update software, visualize live model outputs for tuning.
 * Always On Lateral (full time steering assist)*
@@ -49,8 +49,9 @@ Download models, change settings, update software, visualize live model outputs
 * ZSS support*
 * High quality dashcam recordings*
 * Enhanced tuning for CEM (dynamic experimental mode switching)
+* And more!
 
-\* [Inherited from StarPilot](https://github.com/FrogAi/StarPilot#openpilot-vs-starpilot)
+\* [Inherited from FrogPilot](https://github.com/FrogAi/FrogPilot#openpilot-vs-frogpilot)
 
 ## GM-only Features
 

cereal/custom.capnp

@@ -91,6 +91,13 @@ struct StarPilotCarState @0xf35cc4560bbf6ec2 {
   cancelPressed @20 :Bool;
   cancelLongPressed @21 :Bool;
   cancelVeryLongPressed @22 :Bool;
+  pedalMaxRegen @23 :Bool;  # pedal at max regen, driver should use brake for more decel
+  pedalLongActive @24 :Bool;  # Pre-AP pedal longitudinal mode is active (enableLongControl)
+  teslaCCEngaged @25 :Bool;  # rising edge of stock Tesla CC engaging (no-pedal mode)
+  teslaCCDisengaged @26 :Bool;  # falling edge of stock Tesla CC
+  teslaCCNotArmed @27 :Bool;  # lateral engaged but DI_cruiseState != STANDBY/ENABLED
+  accelHardCruise @28 :Bool;  # current/releasing accel cruise button came from GM hard-press signal
+  decelHardCruise @29 :Bool;  # current/releasing decel cruise button came from GM hard-press signal
 }
 
 struct StarPilotDeviceState @0xda96579883444c35 {
@@ -108,7 +115,11 @@ struct StarPilotModelDataV2 @0x80ae746ee2596b11 {
   }
 }
 
-struct StarPilotOnroadEvent @0xa5cd762cd951a455 {
+struct StarPilotOnroadEvents @0xa5cd762cd951a455 {
+  events @0 :List(StarPilotOnroadEvent);
+}
+
+struct StarPilotOnroadEvent @0xe344718567f9ce71 {
   name @0 :EventName;
 
   enable @1 :Bool;
@@ -158,6 +169,14 @@ struct StarPilotOnroadEvent @0xa5cd762cd951a455 {
     switchbackModeInactive @30;
     lkasEnable @31;
     lkasDisable @32;
+    lateralManeuver @33;
+    pedalCruiseEnabled @34;
+    pedalCruiseDisabled @35;
+    pedalMaxRegen @36;
+    teslaCCEngaged @37;
+    teslaCCDisengaged @38;
+    teslaCCNotArmed @39;
+    pedalNotCalibrated @40;
   }
 }
 
@@ -259,7 +278,8 @@ struct CustomReserved9 @0xa1680744031fdb2d {
   wallTimeNanos @5 :UInt64;
 }
 
-struct CustomReserved10 @0xcb9fd56c7057593a {
+struct StarPilotLateralManeuverPlanDEPRECATED @0xcb9fd56c7057593a {
+  desiredCurvature @0 :Float32;  # 1/m
 }
 
 struct CustomReserved11 @0xc2243c65e0340384 {

cereal/log.capnp

@@ -68,12 +68,12 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     longitudinalManeuver @30;
     steerTempUnavailableSilent @31;
     resumeRequired @32;
-    preDriverDistracted @33;
-    promptDriverDistracted @34;
-    driverDistracted @35;
-    preDriverUnresponsive @36;
-    promptDriverUnresponsive @37;
-    driverUnresponsive @38;
+    driverDistracted1 @33;
+    driverDistracted2 @34;
+    driverDistracted3 @35;
+    driverUnresponsive1 @36;
+    driverUnresponsive2 @37;
+    driverUnresponsive3 @38;
     belowSteerSpeed @39;
     lowBattery @40;
     accFaulted @41;
@@ -130,14 +130,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     userBookmark @95;
     excessiveActuation @96;
     audioFeedback @97;
-    lateralManeuver @98;
-    pedalCruiseEnabled @99;
-    pedalCruiseDisabled @100;
-    pedalMaxRegen @101;
-    teslaCCEngaged @102;
-    teslaCCDisengaged @103;
-    teslaCCNotArmed @104;
-    pedalNotCalibrated @105;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -833,13 +825,30 @@ struct SelfdriveState {
   alertStatus @5 :AlertStatus;
   alertSize @6 :AlertSize;
   alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertSound @13 :AudibleAlert;
   alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
 
   # configurable driving settings
   experimentalMode @10 :Bool;
   personality @11 :LongitudinalPersonality;
 
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    preAlert @9;
+  }
+
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
@@ -860,6 +869,10 @@ struct SelfdriveState {
     mid @2;
     full @3;
   }
+
+  deprecated :group {
+    alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  }
 }
 
 struct ControlsState @0x97ff69c53601abf1 {
@@ -1095,7 +1108,7 @@ struct ModelDataV2 {
   confidence @23: ConfidenceClass;
 
   # Model perceived motion
-  temporalPose @21 :Pose;
+  temporalPoseDEPRECATED @21 :Pose;
 
   # e2e lateral planner
   action @26: Action;
@@ -2179,7 +2192,6 @@ struct DriverStateV2 {
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
-    sleepProb @14 :Float32;
     notReadyProbDEPRECATED @12 :List(Float32);
     occludedProbDEPRECATED @10 :Float32;
     readyProbDEPRECATED @11 :List(Float32);
@@ -2221,7 +2233,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
   stdDEPRECATED @2 :Float32;
 }
 
-struct DriverMonitoringState @0xb83cda094a1da284 {
+struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
   events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
@@ -2239,12 +2251,90 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   isActiveMode @16 :Bool;
   isRHD @4 :Bool;
   uncertainCount @19 :UInt32;
-  phoneProbOffset @20 :Float32;
-  phoneProbValidCount @21 :UInt32;
 
-  isPreviewDEPRECATED @15 :Bool;
-  rhdCheckedDEPRECATED @5 :Bool;
-  eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
+  deprecated :group {
+    phoneProbOffset @20 :Float32;
+    phoneProbValidCount @21 :UInt32;
+    isPreview @15 :Bool;
+    rhdChecked @5 :Bool;
+    events @0 :List(Car.OnroadEventDEPRECATED);
+  }
+}
+
+struct DriverMonitoringState {
+  lockout @0 :Bool;
+  lockoutRecoveryPercent @11 :Int8;
+  alert3Count @12 :Int8;
+  noResponseCount @13 :Int8;
+  noResponseForceDecel @14 :Bool;
+
+  alwaysOn @3 :Bool;
+  alwaysOnLockout @4 :Bool;
+
+  alertLevel @5 :AlertLevel;
+  activePolicy @6 :MonitoringPolicy;
+  isRHD @7 :Bool;
+  rhdCalibration @8 :CalibrationState;
+
+  visionPolicyState @9 :VisionPolicyState;
+  wheeltouchPolicyState @10 :WheeltouchPolicyState;
+
+  enum AlertLevel {
+    # ordinal must match the name to prevent bugs
+    # comparing against the raw ordinal value
+    none @0;
+    one @1;
+    two @2;
+    three @3;
+  }
+
+  enum MonitoringPolicy {
+    wheeltouch @0;
+    vision @1;
+  }
+
+  struct VisionPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    isDistracted @2 :Bool;
+    distractedTypes @3 :DistractedTypes;
+
+    faceDetected @4 :Bool;
+    pose @5 :Pose;
+    wheeltouchFallbackPercent @6 :Int8;
+    uncertainOffroadAlertPercent @7 :Int8;
+
+    struct DistractedTypes {
+      pose @0: Bool;
+      eye @1: Bool;
+      phone @2: Bool;
+    }
+
+    struct Pose {
+      pitch @0 :Float32;
+      yaw @1 :Float32;
+      pitchCalib @2 :CalibrationState;
+      yawCalib @3 :CalibrationState;
+      calibrated @4 :Bool;
+      uncertainty @5 :Float32;
+    }
+  }
+
+  struct WheeltouchPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    driverInteracting @2 :Bool;
+  }
+
+  struct CalibrationState {
+    calibratedPercent @0 :Int8;
+    offset @1 :Float32;
+  }
+
+  deprecated :group {
+    alertCountLockoutPercent @1 :Int8;
+    alertTimeLockoutPercent @2 :Int8;
+  }
 }
 
 struct Boot {
@@ -2565,7 +2655,7 @@ struct Event {
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
-    driverMonitoringState @71: DriverMonitoringState;
+    driverMonitoringState @151 :DriverMonitoringState;
     livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
@@ -2614,8 +2704,8 @@ struct Event {
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
     audioFeedback @149 :AudioFeedback;
-    lateralManeuverPlan @150 :LateralManeuverPlan;
 
+    lateralManeuverPlan @150 :LateralManeuverPlan;
     # *********** debug ***********
     testJoystick @52 :Joystick;
     roadEncodeData @86 :EncodeData;
@@ -2644,12 +2734,12 @@ struct Event {
     starpilotCarState @109 :Custom.StarPilotCarState;
     starpilotDeviceState @110 :Custom.StarPilotDeviceState;
     starpilotModelV2 @111 :Custom.StarPilotModelDataV2;
-    starpilotOnroadEvents @112 :List(Custom.StarPilotOnroadEvent);
+    starpilotOnroadEvents @112 :Custom.StarPilotOnroadEvents;
     starpilotPlan @113 :Custom.StarPilotPlan;
     starpilotRadarState @114 :Custom.StarPilotRadarState;
     starpilotSelfdriveState @115 :Custom.StarPilotSelfdriveState;
     customReserved9 @116 :Custom.CustomReserved9;
-    customReserved10 @136 :Custom.CustomReserved10;
+    starpilotLateralManeuverPlanDEPRECATED @136 :Custom.StarPilotLateralManeuverPlanDEPRECATED;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
     customReserved13 @139 :Custom.CustomReserved13;
@@ -2707,5 +2797,6 @@ struct Event {
     gyroscope2DEPRECATED @100 :SensorEventData;
     accelerometer2DEPRECATED @101 :SensorEventData;
     temperatureSensor2DEPRECATED @123 :SensorEventData;
+    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
   }
 }

common/params_keys.h

@@ -11,7 +11,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AlwaysAllowUploads", {PERSISTENT, BOOL, "0"}},
     {"AlwaysOnDM", {PERSISTENT, BOOL}},
     {"ApiCache_Device", {PERSISTENT, STRING}},
-    {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
     {"AssistNowToken", {PERSISTENT, STRING}},
     {"AthenadPid", {PERSISTENT, INT}},
     {"AthenadUploadQueue", {PERSISTENT, JSON}},
@@ -43,7 +42,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ExperimentalLongitudinalEnabled", {PERSISTENT, BOOL}},
     {"ExperimentalMode", {PERSISTENT, BOOL}},
     {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
+    {"PersistChillState", {PERSISTENT, BOOL, "0", "0", 1}},
     {"PersistExperimentalState", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"PersistedCCStatus", {PERSISTENT, INT, "0", "0"}},
     {"PersistedCEStatus", {PERSISTENT, INT, "0", "0"}},
     {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ForcePowerDown", {PERSISTENT, BOOL}},
@@ -68,7 +69,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsMetric", {PERSISTENT, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsOnroad", {PERSISTENT, BOOL}},
+    {"IsRHD", {PERSISTENT, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
+    {"IsRHDOverride", {PERSISTENT, BOOL}},
     {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
@@ -113,6 +116,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
+    {"PriusClusterOffsetMigrated", {PERSISTENT, BOOL, "0", "0"}},
     {"RecordAudio", {PERSISTENT, BOOL}},
     {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
     {"RecordFront", {PERSISTENT, BOOL}},
@@ -159,6 +163,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AggressiveJerkSpeed", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
     {"AggressiveJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
     {"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"AllowImpossibleAcceleration", {PERSISTENT, BOOL, "0", "0", 3}},
     {"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0}},
     {"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
@@ -167,6 +172,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
     {"AvailableModelSeries", {PERSISTENT, STRING, "", "", 1}},
     {"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
+    {"AvailableModelArtifactFormats", {PERSISTENT, STRING, "", "", 1}},
     {"BlacklistedModels", {PERSISTENT, STRING, "", "", 2}},
     {"BootLogo", {PERSISTENT, STRING, "starpilot", "stock", 0}},
     {"BuildMetadata", {PERSISTENT, STRING, "", "", 0}},
@@ -177,6 +183,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BorderWidth", {PERSISTENT, FLOAT, "100.0", "100.0", 2}},
     {"CalibratedLateralAcceleration", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
     {"CalibrationProgress", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
+    {"CameraOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"CameraView", {PERSISTENT, INT, "3", "0", 2}},
     {"CancelDownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"DisableWideRoad", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -194,15 +201,22 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CESlowerLead", {PERSISTENT, BOOL, "1", "0", 1}},
     {"CESpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
     {"CESpeedLead", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
+    {"CCMLead", {PERSISTENT, BOOL, "1", "0", 1}},
+    {"CCMLaunchAssist", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"CCMSetSpeedMargin", {PERSISTENT, FLOAT, "3.0", "0.0", 1}},
+    {"CCMSpeed", {PERSISTENT, FLOAT, "45.0", "0.0", 1}},
+    {"CCMSpeedLead", {PERSISTENT, FLOAT, "35.0", "0.0", 1}},
+    {"CCStatus", {CLEAR_ON_OFFROAD_TRANSITION, INT, "0", "0"}},
     {"CEStatus", {CLEAR_ON_OFFROAD_TRANSITION, INT, "0", "0"}},
     {"CEStopLights", {PERSISTENT, BOOL, "1", "0", 1}},
     {"CEStoppedLead", {PERSISTENT, BOOL, "0", "0", 1}},
     {"ClusterOffset", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"ColorScheme", {PERSISTENT, STRING, "frog", "stock", 0}},
+    {"ColorScheme", {PERSISTENT, STRING, "stock", "stock", 0}},
     {"ColorToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"BootLogoToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"Compass", {PERSISTENT, BOOL, "0", "0", 1}},
     {"CommunityFavorites", {PERSISTENT, STRING, "", "", 1}},
+    {"ConditionalChill", {PERSISTENT, BOOL, "0", "0", 1}},
     {"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1}},
     {"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
     {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1}},
@@ -221,11 +235,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
     {"CancelButtonControl", {PERSISTENT, INT, "1", "0", 2}},
     {"CancelButtonControlsMigrated", {PERSISTENT, BOOL, "0", "0"}},
+    {"AOLLKASMigratedToButtonControl", {PERSISTENT, BOOL, "0", "0"}},
     {"TrafficPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
     {"AggressivePersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
     {"StandardPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
     {"RelaxedPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"CustomThemes", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"CustomThemes", {PERSISTENT, BOOL, "0", "0", 0}},
     {"CustomUI", {PERSISTENT, BOOL, "1", "0", 1}},
     {"DebugMode", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
     {"DecelerationProfile", {PERSISTENT, INT, "1", "0", 2}},
@@ -272,6 +287,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"FlashPanda", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"GMDashSpoofOffsets", {PERSISTENT, BOOL, "0", "0", 2}},
     {"GMPedalLongitudinal", {PERSISTENT, BOOL, "1", "1", 2}},
+    {"IgnoreIgnitionLine", {PERSISTENT, BOOL, "0", "0"}},
     {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2}},
     {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0"}},
     {"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0"}},
@@ -299,10 +315,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2}},
     {"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
     {"FPSCounter", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"GalaxyDashboardStats", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
     {"StarPilotApiToken", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
     {"StarPilotCarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES, "", ""}},
     {"StarPilotCarParamsPersistent", {PERSISTENT, BYTES, "", ""}},
     {"StarPilotDongleId", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
+    {"StarPilotFavoriteSlots", {PERSISTENT, JSON, "[]", "[]", 1}},
     {"StarPilotStats", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
     {"StarPilotTogglesUpdated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"FrogsGoMoosTweak", {PERSISTENT, BOOL, "1", "0", 2}},
@@ -318,12 +336,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HideMaxSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
     {"HideSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
     {"HideSpeedLimit", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"HideSteeringWheel", {PERSISTENT, BOOL, "0", "0", 2}},
     {"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2}},
     {"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0}},
     {"HumanAcceleration", {PERSISTENT, BOOL, "0", "0", 2}},
     {"CoastUpToLeads", {PERSISTENT, BOOL, "1", "1", 2}},
+    {"PrioritizeSmoothFollowing", {PERSISTENT, BOOL, "0", "0", 2}},
     {"HumanLaneChanges", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"IconPack", {PERSISTENT, STRING, "frog-animated", "stock", 0}},
+    {"IconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
     {"IconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"IncreasedStoppedDistance", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
     {"IncreasedStoppedDistanceLowVisibility", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
@@ -365,11 +385,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LongitudinalManeuverStatus", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
     {"LongitudinalTune", {PERSISTENT, BOOL, "1", "0", 0}},
     {"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
+    {"LoudBlindspotAlertWhenDisengaged", {PERSISTENT, BOOL, "0", "0", 0}},
     {"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
+    {"MainCruiseButtonControl", {PERSISTENT, INT, "0", "0", 2}},
     {"ManualUpdateInitiated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"AMapKey1", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
     {"AMapKey2", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
     {"ApiCache_NavDestinations", {PERSISTENT, JSON, "[]", "[]"}},
+    {"FavoriteDestinations", {PERSISTENT, JSON, "[]", "[]"}},
     {"MapAcceleration", {PERSISTENT, BOOL, "0", "0", 1}},
     {"MapboxPublicKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
     {"MapBoxRequests", {PERSISTENT, JSON, "{}", "{}"}},
@@ -381,7 +404,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
     {"NavDesiresAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
     {"NavLongitudinalAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"NavDestination", {PERSISTENT, STRING, "", ""}},
+    {"ClearNavOnOffroad", {PERSISTENT, BOOL, "1", "1", 2}},
+    {"NavDestination", {PERSISTENT | CLEAR_ON_MANAGER_START, STRING, "", ""}},
+    {"NavInstructionCollapsed", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
     {"NavInstructionState", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
     {"NextMapSpeedLimit", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
     {"VisionSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
@@ -403,6 +428,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"ModelUI", {PERSISTENT, BOOL, "1", "0", 2}},
     {"ModelVersions", {PERSISTENT, STRING, "", "", 1}},
+    {"ModelManifestVersion", {PERSISTENT, STRING, "", "", 1}},
     {"NavigationUI", {PERSISTENT, BOOL, "1", "0", 1}},
     {"NNFF", {PERSISTENT, BOOL, "0", "0", 2}},
     {"NNFFLite", {PERSISTENT, BOOL, "0", "0", 2}},
@@ -411,6 +437,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"NoLogging", {PERSISTENT, BOOL, "0", "0", 2}},
     {"NoUploads", {PERSISTENT, BOOL, "0", "0", 2}},
     {"NudgelessLaneChange", {PERSISTENT, BOOL, "0", "0", 0}},
+    {"NudgelessLaneChangeOnlyWhenEngaged", {PERSISTENT, BOOL, "0", "0", 1}},
     {"NumericalTemp", {PERSISTENT, BOOL, "1", "0", 3}},
     {"Offset1", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
     {"Offset2", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
@@ -434,8 +461,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PauseLateralSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
     {"LateralResumeDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
     {"PedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"PondPaired", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"PondUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
+    {"GalaxyPaired", {PERSISTENT, BOOL, "0", "0", 0}},
+    {"GalaxyUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
     {"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},
     {"PreviousSpeedLimit", {PERSISTENT, FLOAT, "0.0", "0.0"}},
     {"PromptDistractedVolume", {PERSISTENT, INT, "101", "101", 2}},
@@ -443,6 +470,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QOLLateral", {PERSISTENT, BOOL, "1", "0", 1}},
     {"QOLLongitudinal", {PERSISTENT, BOOL, "1", "0", 1}},
     {"QOLVisuals", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"RadarTakeoffs", {PERSISTENT, BOOL, "0", "0", 2}},
     {"RadarTracksUI", {PERSISTENT, BOOL, "0", "0", 3}},
     {"RainbowPath", {PERSISTENT, BOOL, "0", "0", 1}},
     {"RandomEvents", {PERSISTENT, BOOL, "0", "0", 1}},
@@ -481,6 +509,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SetSpeedLimit", {PERSISTENT, BOOL, "0", "0", 1}},
     {"SetSpeedOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 2}},
     {"ShowCEMStatus", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"ShowCCMStatus", {PERSISTENT, BOOL, "0", "0", 2}},
     {"ShowCPU", {PERSISTENT, BOOL, "1", "0", 3}},
     {"ShowCSCStatus", {PERSISTENT, BOOL, "1", "0", 2}},
     {"ShowGPU", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -497,7 +526,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ShowStorageUsed", {PERSISTENT, BOOL, "0", "0", 3}},
     {"SidebarMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
     {"SidebarOpen", {PERSISTENT, BOOL, "0", "0", 0}},
-    {"SignalAnimation", {PERSISTENT, STRING, "frog", "stock", 0}},
+    {"SignalAnimation", {PERSISTENT, STRING, "stock", "stock", 0}},
     {"SignalMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
     {"SignalToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"SimpleMode", {PERSISTENT, BOOL, "0", "0", 0}},
@@ -515,7 +544,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SLCPriority1", {PERSISTENT, STRING, "Map Data", "Map Data", 2}},
     {"SLCPriority2", {PERSISTENT, STRING, "Dashboard", "Dashboard", 2}},
     {"SNGHack", {PERSISTENT, BOOL, "1", "0", 2}},
-    {"SoundPack", {PERSISTENT, STRING, "frog", "stock", 0}},
+    {"SoundPack", {PERSISTENT, STRING, "stock", "stock", 0}},
     {"SoundToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"SLCAdoptSpeedLimit", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"SLCForceCruiseSpeed", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
@@ -540,8 +569,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1}},
     {"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"StartupMessageBottom", {PERSISTENT, STRING, "Human-tested, frog-approved 🐸", "Always keep hands on wheel and eyes on road", 0}},
-    {"StartupMessageTop", {PERSISTENT, STRING, "Hop in and buckle up!", "Be ready to take over at any time", 0}},
+    {"StartupMessageBottom", {PERSISTENT, STRING, "Always keep hands on wheel and eyes on road", "Always keep hands on wheel and eyes on road", 0}},
+    {"StartupMessageTop", {PERSISTENT, STRING, "Be ready to take over at any time", "Be ready to take over at any time", 0}},
     {"StaticPedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1}},
     {"SteerDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"SteerDelayStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
@@ -555,6 +584,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SteerOffsetStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"SteerRatio", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"SteerRatioStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
+    {"StockConfidenceBallWidget", {PERSISTENT, BOOL, "0", "0", 0}},
     {"StockDongleId", {PERSISTENT, STRING, "", ""}},
     {"StopAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"StopAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
@@ -566,6 +596,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SwitchbackModeCooldown", {PERSISTENT, INT, "5", "0", 2}},
     {"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
     {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2}},
     {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
     {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"TetheringEnabled", {PERSISTENT, INT, "0", "0", 0}},
@@ -574,6 +605,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Timezone", {PERSISTENT, STRING, "", ""}},
     {"TinygradUpdateAvailable", {PERSISTENT, BOOL, "0", "0", 1}},
     {"ToyotaDoors", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"TrailerLoad", {PERSISTENT, INT, "0", "0", 2}},
     {"TrafficFollow", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
     {"TrafficJerkAcceleration", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
     {"TrafficJerkDanger", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
@@ -605,12 +637,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"VeryLongStarButtonControl", {PERSISTENT, INT, "0", "0", 2}},
     {"VoltSNG", {PERSISTENT, BOOL, "0", "0", 2}},
     {"GMAutoHold", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"VoltOnePedalMode", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"ToyotaAutoHold", {PERSISTENT, BOOL, "0", "0", 2}},
     {"WarningImmediateVolume", {PERSISTENT, INT, "101", "101", 2}},
     {"WarningSoftVolume", {PERSISTENT, INT, "101", "101", 2}},
     {"WeatherPresets", {PERSISTENT, BOOL, "0", "0", 2}},
     {"WeatherToken", {PERSISTENT | DONT_LOG, STRING, "", "", 2}},
     {"WheelControls", {PERSISTENT, STRING, "", "", 2}},
-    {"WheelIcon", {PERSISTENT, STRING, "frog", "stock", 0}},
+    {"WheelIcon", {PERSISTENT, STRING, "stock", "stock", 0}},
     {"WheelSpeed", {PERSISTENT, BOOL, "0", "0", 2}},
     {"WheelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
 };

common/tests/test_params.py

@@ -133,8 +133,8 @@ class TestParams:
 
   def test_params_get_type(self):
     # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0})
-    assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
+    self.params.put("ApiCache_DriveStats", {"a": 0})
+    assert self.params.get("ApiCache_DriveStats") == {"a": 0}
 
     # int
     self.params.put("BootCount", 1441)

conftest.py

@@ -1,8 +1,40 @@
 import contextlib
 import gc
 import os
+import platform
+import sys
+from pathlib import Path
+
 import pytest
 
+
+def _prepend_host_pytest_runtime() -> None:
+  if platform.system() != "Darwin" or os.getenv("SP_DISABLE_HOST_PYTEST_REDIRECT") == "1":
+    return
+
+  root_dir = Path(__file__).resolve().parent
+  work_dir = root_dir / ".host_runtime" / "darwin" / "worktree"
+  required_extension = work_dir / "msgq_repo" / "msgq" / "ipc_pyx.so"
+  if not required_extension.exists():
+    return
+
+  extra_paths = [work_dir, work_dir / "starpilot" / "third_party"]
+  extra_paths.extend(sorted(work_dir.glob("*_repo")))
+  acados_dir = work_dir / "third_party" / "acados"
+  if acados_dir.is_dir():
+    extra_paths.append(acados_dir)
+
+  existing = set(sys.path)
+  insert_at = 0
+  for path in [str(p) for p in extra_paths if p.exists()]:
+    if path in existing:
+      continue
+    sys.path.insert(insert_at, path)
+    insert_at += 1
+
+
+_prepend_host_pytest_runtime()
+
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 325 Supported Cars
+# 326 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -110,6 +110,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Azera Hybrid (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai S connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid (with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||

docs/MODEL_REBUILD.md

@@ -0,0 +1,152 @@
+# StarPilot Unified Model Rebuild
+
+This workflow rebuilds StarPilot driving and driver-monitoring artifacts for the vendored tinygrad revision. Driving-model behavior versions remain manifest metadata; every runtime driving artifact uses the `tinygrad_single_v1` layout.
+
+## Safety
+
+- The supported build device is `comma@192.168.3.110`.
+- Never run these commands against `192.168.3.109`.
+- Do not compile normal and big-GPU artifacts together. This workflow builds normal QCOM artifacts only.
+- Keep source ONNX files and compiled PKLs on the T5 workspace, not the comma.
+
+## Workspace
+
+The default workspace is:
+
+```text
+/Volumes/T5/StarPilot-Model-Rebuild-2026-06-22/
+```
+
+Important directories:
+
+- `onnx/<model-id>/`: ID-prefixed source ONNX files.
+- `compiled/`: completed unified driving PKLs.
+- `driver-monitoring/`: DM ONNX, model PKL, metadata, and camera warps.
+- `ready-for-resources/`: flat repository-upload handoff.
+- Oversized models are represented by repository-safe `.p00`, `.p01`, and `.sha256` files in `ready-for-resources/`.
+- `logs/`: one remote compilation log per model.
+- `results/`: source and artifact checksum records.
+- `manifests/`: generated `model_names_v22.json`.
+
+## Initialize And Extract
+
+```bash
+python3 scripts/model_rebuild_pipeline.py init
+python3 scripts/model_rebuild_pipeline.py extract \
+  --base-manifest /path/to/model_names_v21.json
+```
+
+Extraction streams Git blobs directly to disk. LFS pointers are resolved from the local object cache or fetched by object ID, then checked against the pointer SHA-256 and size. Binary ONNX data is never stored in a shell variable.
+
+To retry one source:
+
+```bash
+python3 scripts/model_rebuild_pipeline.py extract \
+  --model pop22 \
+  --base-manifest /path/to/model_names_v21.json
+```
+
+Source commits are defined in `scripts/model_source_map_v22.json`.
+
+## Compile
+
+Compile one model:
+
+```bash
+python3 scripts/model_rebuild_pipeline.py compile \
+  --model pop22 \
+  --base-manifest /path/to/model_names_v21.json
+```
+
+Compile or resume the full catalog:
+
+```bash
+python3 scripts/model_rebuild_pipeline.py compile \
+  --base-manifest /path/to/model_names_v21.json
+```
+
+Existing artifacts are skipped unless `--force` is passed. Each model is staged in its own remote input directory, compiled on `.110`, copied back to the T5, hashed, and copied into `ready-for-resources/`. Failures are written to `results/<id>_failure.json`; rerunning the same command resumes incomplete models.
+
+Validate one or all completed artifacts with synthetic camera inputs on QCOM:
+
+```bash
+python3 scripts/model_rebuild_pipeline.py validate \
+  --model pop22 \
+  --base-manifest /path/to/model_names_v21.json
+```
+
+The lower-level device compiler also supports direct use:
+
+```bash
+./models --model pop22 --input-format split --version v11
+./models --model deeprl3v2 --input-format supercombo --version v15
+```
+
+`--version` records behavioral semantics only. It does not change artifact layout.
+
+If the compiled PKL exceeds 100 MiB, `./models` automatically keeps the full
+local PKL and creates 95 MiB upload parts beside it:
+
+```text
+deeprl3v2_driving_tinygrad.pkl
+deeprl3v2_driving_tinygrad.pkl.p00
+deeprl3v2_driving_tinygrad.pkl.p01
+deeprl3v2_driving_tinygrad.pkl.sha256
+```
+
+To split an already compiled artifact:
+
+```bash
+./models --split-artifact /path/to/deeprl3v2_driving_tinygrad.pkl \
+  --output-dir /path/to/upload-ready
+```
+
+Upload only the numbered parts and checksum when the full PKL exceeds the
+repository limit. The downloader reassembles into a temporary file, verifies
+the companion SHA-256, and atomically installs the final PKL. No manifest field
+is required for multipart artifacts.
+
+## Driver Monitoring
+
+Stage the current DM ONNX in `uncompiledmodels`, then run:
+
+```bash
+./models --dm \
+  --input-dir /data/openpilot/uncompiledmodels \
+  --output-dir /tmp/dm_artifacts
+```
+
+This builds:
+
+- `dmonitoring_model_tinygrad.pkl`
+- `dmonitoring_model_metadata.pkl`
+- `dm_warp_1928x1208_tinygrad.pkl`
+- `dm_warp_1344x760_tinygrad.pkl`
+
+All four files must be updated together.
+
+## Manifest
+
+Generate v22 after compilation:
+
+```bash
+python3 scripts/model_rebuild_pipeline.py manifest \
+  --base-manifest /path/to/model_names_v21.json
+```
+
+The generator preserves existing IDs and behavioral metadata and adds
+`deeprl3v2`. Manifest v22 implies the unified single-PKL runtime layout.
+Repository-hosted multipart files are discovered by naming convention, so no
+size, hash, format, or part-count metadata is required.
+
+## Runtime Verification
+
+Compilation validates JIT capture/replay, pickle round-trip, finite outputs, metadata slices, and both camera warps. Before release:
+
+1. Select representative v8, v11, v12, v15, and supercombo models.
+2. Confirm `modeld` stays running.
+3. Confirm finite `modelV2` path, lane-line, lead, pose, and action data.
+4. Confirm `driverStateV2` on both supported camera resolutions.
+5. Test download, selection, deletion, randomization, migration, and fallback in QT, raylib/mici, and Galaxy.
+
+The built-in South Carolina artifact is `selfdrive/modeld/models/driving_tinygrad.pkl`. If migration cannot download the selected v22 artifact, StarPilot switches to that built-in model.

launch_chffrplus.sh

@@ -122,7 +122,6 @@ mods = [
   "msgq.ipc_pyx",
   "msgq.visionipc.visionipc_pyx",
   "openpilot.common.transformations.transformations",
-  "openpilot.selfdrive.modeld.models.commonmodel_pyx",
   "openpilot.selfdrive.pandad.pandad_api_impl",
   "openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
   "openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
@@ -137,12 +136,11 @@ for mod in mods:
 
 repo_root = Path.cwd().parents[1]
 required_files = [
-  repo_root / "selfdrive/modeld/models/driving_vision_metadata.pkl",
-  repo_root / "selfdrive/modeld/models/driving_policy_metadata.pkl",
-  repo_root / "selfdrive/modeld/models/driving_vision_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/driving_policy_tinygrad.pkl",
+  repo_root / "selfdrive/modeld/models/driving_tinygrad.pkl",
   repo_root / "selfdrive/modeld/models/dmonitoring_model_metadata.pkl",
   repo_root / "selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl",
+  repo_root / "selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl",
+  repo_root / "selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl",
   repo_root / "selfdrive/pandad/pandad_api_impl.so",
   repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
   repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so",

launch_env.sh

@@ -21,7 +21,7 @@ fi
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8.16"
+  export AGNOS_VERSION="12.8.17"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

logs

@@ -34,9 +34,11 @@ import requests
 import zstandard
 
 from cereal import log
+from openpilot.tools.lib.auth_config import DEFAULT_API_HOST, KONIK_API_HOST, get_token, normalize_api_host
 
 
-API_HOST = os.getenv("COMMA_API_HOST", "https://api.commadotai.com").rstrip("/")
+API_HOST = normalize_api_host(os.getenv("COMMA_API_HOST") or os.getenv("API_HOST") or DEFAULT_API_HOST)
+API_HOSTS = [API_HOST] if os.getenv("COMMA_API_HOST") or os.getenv("API_HOST") else [DEFAULT_API_HOST, KONIK_API_HOST]
 ROUTE_ID_RE = re.compile(r"([0-9a-f]{16})/([^/]+)")
 
 
@@ -146,12 +148,12 @@ def parse_route_id(raw: str) -> RouteId:
   return RouteId(dongle_id=dongle_id, log_id=log_id)
 
 
-def route_url(route: RouteId) -> str:
-  return f"{API_HOST}/v1/route/{quote(route.canonical_name, safe='')}/"
+def route_url(route: RouteId, api_host: str) -> str:
+  return f"{api_host}/v1/route/{quote(route.canonical_name, safe='')}/"
 
 
-def route_files_url(route: RouteId) -> str:
-  return f"{API_HOST}/v1/route/{quote(route.canonical_name, safe='')}/files"
+def route_files_url(route: RouteId, api_host: str) -> str:
+  return f"{api_host}/v1/route/{quote(route.canonical_name, safe='')}/files"
 
 
 def format_segments(segments: list[int]) -> str:
@@ -184,8 +186,13 @@ def relative_posix(path: Path, root: Path) -> str:
   return path.relative_to(root).as_posix()
 
 
-def fetch_json(session: requests.Session, url: str, timeout: float) -> Any:
-  response = session.get(url, timeout=timeout, allow_redirects=True)
+def api_headers(api_host: str) -> dict[str, str] | None:
+  token = get_token(api_host)
+  return {"Authorization": f"JWT {token}"} if token else None
+
+
+def fetch_json(session: requests.Session, url: str, timeout: float, api_host: str | None = None) -> Any:
+  response = session.get(url, timeout=timeout, allow_redirects=True, headers=api_headers(api_host) if api_host else None)
   response.raise_for_status()
   return response.json()
 
@@ -312,24 +319,42 @@ def filename_from_url(url: str) -> str:
 
 
 def validate_route(route: RouteId, session: requests.Session, timeout: float) -> dict[str, Any]:
-  try:
-    route_meta = fetch_json(session, route_url(route), timeout)
-  except requests.HTTPError as exc:
-    status_code = exc.response.status_code if exc.response is not None else "unknown"
-    raise ValidationError(route, [f"route is not publicly accessible from comma connect (HTTP {status_code})."]) from exc
+  route_meta = None
+  files_payload = None
+  api_host = None
+  not_found_hosts = []
+
+  for candidate_host in API_HOSTS:
+    try:
+      route_meta = fetch_json(session, route_url(route, candidate_host), timeout, candidate_host)
+    except requests.HTTPError as exc:
+      status_code = exc.response.status_code if exc.response is not None else "unknown"
+      if status_code == 404 and len(API_HOSTS) > 1:
+        not_found_hosts.append(candidate_host)
+        continue
+      raise ValidationError(route, [f"route is not publicly accessible from {candidate_host} (HTTP {status_code})."]) from exc
+
+    try:
+      files_payload = fetch_json(session, route_files_url(route, candidate_host), timeout, candidate_host)
+    except requests.HTTPError as exc:
+      status_code = exc.response.status_code if exc.response is not None else "unknown"
+      if status_code == 404 and len(API_HOSTS) > 1:
+        not_found_hosts.append(candidate_host)
+        continue
+      raise ValidationError(route, [f"public route files could not be fetched from {candidate_host} (HTTP {status_code})."]) from exc
+
+    api_host = candidate_host
+    break
+
+  if route_meta is None or files_payload is None or api_host is None:
+    raise ValidationError(route, [f"route was not found on: {', '.join(not_found_hosts) or ', '.join(API_HOSTS)}."])
 
   if not route_meta.get("is_public", False):
     raise ValidationError(route, ["route metadata loaded, but `is_public` was false."])
 
-  try:
-    files_payload = fetch_json(session, route_files_url(route), timeout)
-  except requests.HTTPError as exc:
-    status_code = exc.response.status_code if exc.response is not None else "unknown"
-    raise ValidationError(route, [f"public route files could not be fetched from comma connect (HTTP {status_code})."]) from exc
-
   expected_segments = expected_segment_count(route_meta, files_payload)
   if expected_segments <= 0:
-    raise ValidationError(route, ["could not determine any route segments from comma connect."])
+    raise ValidationError(route, ["could not determine any route segments from the route API."])
 
   failures: list[str] = []
   stream_urls: dict[str, list[Any]] = {}
@@ -384,6 +409,7 @@ def validate_route(route: RouteId, session: requests.Session, timeout: float) ->
     raise ValidationError(route, failures)
 
   return {
+    "api_host": api_host,
     "route_meta": route_meta,
     "files_payload": files_payload,
     "expected_segments": expected_segments,
@@ -532,6 +558,7 @@ def print_validation_summary(route: RouteId, validation: dict[str, Any]) -> None
   params = validation["params"]
   map_tiles: MapTileSummary = validation["map_tiles"]
   print(f"Validated {route.cli_name}")
+  print(f"  route API: {validation['api_host']}")
   print(f"  public route: yes")
   print(f"  segments: {validation['expected_segments']}")
   print(f"  VisionSpeedLimitDetection: {params.get('VisionSpeedLimitDetection', '')}")

opendbc_repo/opendbc/car/__init__.py

@@ -106,7 +106,7 @@ def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
   return CanData(addr, bytes(dat), bus)
 
 
-def get_safety_config(safety_model: structs.CarParams.SafetyModel, safety_param: int = None) -> structs.CarParams.SafetyConfig:
+def get_safety_config(safety_model, safety_param: int = None) -> structs.CarParams.SafetyConfig:
   ret = structs.CarParams.SafetyConfig()
   ret.safetyModel = safety_model
   if safety_param is not None:

opendbc_repo/opendbc/car/car.capnp

@@ -205,11 +205,6 @@ struct CarState {
   vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
   lowSpeedAlert @56 :Bool;  # lost steering control due to a dynamic min steering speed
   blockPcmEnable @60 :Bool;  # whether to allow PCM to enable this frame
-  pedalMaxRegen @61 :Bool;  # pedal at max regen, driver should use brake for more decel
-  pedalLongActive @62 :Bool;  # Pre-AP pedal longitudinal mode is active (enableLongControl)
-  teslaCCEngaged @63 :Bool;  # rising edge of stock Tesla CC engaging (no-pedal mode)
-  teslaCCDisengaged @64 :Bool;  # falling edge of stock Tesla CC
-  teslaCCNotArmed @65 :Bool;  # lateral engaged but DI_cruiseState != STANDBY/ENABLED
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -640,7 +635,6 @@ struct CarParams {
     fcaGiorgio @32;
     rivian @33;
     volkswagenMeb @34;
-    teslaPreap @35;
   }
 
   enum SteerControlType {

opendbc_repo/opendbc/car/car_helpers.py

@@ -334,6 +334,9 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
   CP.carFw = car_fw
   CP.fingerprintSource = source
   CP.fuzzyFingerprint = not exact_match
+  post_fingerprint_params = getattr(CarInterface, "apply_post_fingerprint_params", None)
+  if post_fingerprint_params is not None:
+    post_fingerprint_params(CP, candidate, fingerprints, car_fw)
 
   FPCP: StarPilotCarParams = CarInterface.get_starpilot_params(candidate, fingerprints, car_fw, CP, starpilot_toggles)
 

opendbc_repo/opendbc/car/chrysler/carcontroller.py

@@ -2,7 +2,7 @@ from opendbc.can import CANPacker
 from opendbc.car import Bus, DT_CTRL
 from opendbc.car.lateral import apply_meas_steer_torque_limits
 from opendbc.car.chrysler import chryslercan
-from opendbc.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags
+from opendbc.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags, ChryslerStarPilotFlags
 from opendbc.car.interfaces import CarControllerBase
 
 
@@ -50,7 +50,9 @@ class CarController(CarControllerBase):
 
       # TODO: can we make this more sane? why is it different for all the cars?
       lkas_control_bit = self.lkas_control_bit_prev
-      if self.CP.carFingerprint in RAM_DT:
+      if self.FPCP is not None and self.FPCP.flags & ChryslerStarPilotFlags.NO_MIN_STEERING_SPEED:
+        lkas_control_bit = CC.latActive
+      elif self.CP.carFingerprint in RAM_DT:
         if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
           lkas_control_bit = True
         if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2):

opendbc_repo/opendbc/car/chrysler/values.py

@@ -21,6 +21,7 @@ class ChryslerFlags(IntFlag):
 
 class ChryslerStarPilotFlags(IntFlag):
   RAM_HD_ALT_BUTTONS = 1
+  NO_MIN_STEERING_SPEED = 2
 
 
 @dataclass

opendbc_repo/opendbc/car/gm/cancel_logic.py

@@ -0,0 +1,8 @@
+from opendbc.car.gm.values import AccState, CAR
+
+
+def get_stock_cc_active_for_cancel(CP, CS):
+  stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
+  if CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
+    return CS.out.cruiseState.enabled
+  return stock_cc_active

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -10,11 +10,13 @@ from opendbc.car.gm.values import (
   CruiseButtons, GMFlags, GMSafetyFlags,
 )
 from opendbc.car.interfaces import CarControllerBase
+from openpilot.common.pid import PIDController
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.starpilot.common.testing_grounds import testing_ground
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 NetworkLocation = structs.CarParams.NetworkLocation
+TransmissionType = structs.CarParams.TransmissionType
 LongCtrlState = structs.CarControl.Actuators.LongControlState
 GearShifter = structs.CarState.GearShifter
 
@@ -28,14 +30,42 @@ AUTO_HOLD_VOLT_CARS = {
   CAR.CHEVROLET_VOLT_ASCM,
   CAR.CHEVROLET_VOLT_CAMERA,
 }
-AUTO_HOLD_DRIVE_GEARS = {
+AUTO_HOLD_DRIVE_GEARS = (
   GearShifter.drive,
   GearShifter.low,
   GearShifter.manumatic,
-}
+)
 AUTO_HOLD_MIN_BRAKE = 80
 AUTO_HOLD_MAX_BRAKE = 240
 AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
+AUTO_HOLD_STOPPED_SPEED = 0.02
+AUTO_HOLD_2019_MIN_BRAKE = 100
+BOLT_ACC_PEDAL_FRICTION_RELEASE_FRAMES = 5
+BOLT_PEDAL_LONG_ACCEL_LIMIT_BP = [0.0, 1.5, 4.0, 8.0, 15.0, 30.0]
+BOLT_PEDAL_LONG_ACCEL_LIMIT_V = [-0.93, -1.28, -1.98, -2.58, -2.86, -2.95]
+VOLT_ONE_PEDAL_DECEL_BP = [0.5 * CV.MPH_TO_MS, 6.0 * CV.MPH_TO_MS]
+VOLT_ONE_PEDAL_DECEL_V = [-1.0, -1.1]
+VOLT_ONE_PEDAL_REGEN_PADDLE_DECEL_V = [-1.5, -1.6]
+VOLT_ONE_PEDAL_MAX_DECEL = min((*VOLT_ONE_PEDAL_DECEL_V, *VOLT_ONE_PEDAL_REGEN_PADDLE_DECEL_V)) - 0.5
+VOLT_ONE_PEDAL_PID_NEG_LIMIT = -3.5
+VOLT_ONE_PEDAL_SPEED_ERROR_FACTOR_BP = [1.5, 20.0]
+VOLT_ONE_PEDAL_SPEED_ERROR_FACTOR_V = [0.4, 0.2]
+VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_SPEED_FACTOR_BP = [0.0, 10.0 * CV.MPH_TO_MS]
+VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_SPEED_FACTOR_V = [0.2, 1.0]
+VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_STEER_FACTOR_BP = [20.0, 120.0]
+VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_STEER_FACTOR_V = [1.0, 0.2]
+VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_UP = 0.8 * DT_CTRL * 4
+VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_DOWN = 0.8 * DT_CTRL * 4
+VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_BP = [4.0, 8.0]
+VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_V = [0.4, 1.0]
+VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_INCLINE_V = [0.2, 1.0]
+VOLT_ONE_PEDAL_LIFT_BRAKE_BP = [0.0, CarControllerParams.NEAR_STOP_BRAKE_PHASE, 2.0 * CV.MPH_TO_MS]
+VOLT_ONE_PEDAL_LIFT_BRAKE_V = [AUTO_HOLD_MIN_BRAKE, AUTO_HOLD_MIN_BRAKE, 20.0]
+VOLT_ONE_PEDAL_LIFT_BRAKE_FRAMES = 8
+TRUCK_LONG_SMOOTH_CARS = {
+  CAR.CHEVROLET_SILVERADO,
+  CAR.CHEVROLET_SILVERADO_CC,
+}
 
 
 def get_stock_cc_active_for_cancel(CP, CS):
@@ -51,7 +81,13 @@ def use_interceptor_sng_launch(CP, CS, maneuver_mode=False):
   launch_speed = max(CP.vEgoStarting, 0.3)
   if maneuver_mode:
     launch_speed = max(launch_speed, 2.0)
-  return CS.out.cruiseState.standstill and (CS.out.standstill or CS.out.vEgo < launch_speed)
+  near_stop = CS.out.standstill or CS.out.vEgo < launch_speed
+  if (
+    getattr(CP, "carFingerprint", None) == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL and
+    getattr(CP, "enableGasInterceptorDEPRECATED", False)
+  ):
+    return near_stop
+  return CS.out.cruiseState.standstill and near_stop
 
 
 def should_spoof_dash_speed(CP, starpilot_toggles):
@@ -77,6 +113,13 @@ def should_send_acc_dashboard_status(CP, dash_speed_spoof_active):
   return status_car and (dash_speed_spoof_active or volt_camera_no_camera)
 
 
+def get_acc_dashboard_status_active(CP, CC):
+  if CC.enabled:
+    return True
+
+  return CP.carFingerprint == CAR.BUICK_LACROSSE_ASCM and CC.latActive
+
+
 def get_acc_dashboard_fcw_alert(hud_alert, CS):
   if hud_alert == VisualAlert.fcw:
     return 0x3
@@ -92,29 +135,6 @@ def get_acc_dashboard_fcw_alert(hud_alert, CS):
   return 0
 
 
-def get_acc_dashboard_status_values(enabled, target_speed_kph, hud_control, CS):
-  if enabled:
-    return {
-      "ACCCruiseState": 0,
-      "ACCLeadCar": int(hud_control.leadVisible) & 0x1,
-      "ACCResumeButton": 0,
-      "ACCSpeedSetpoint": target_speed_kph,
-      "ACCGapLevel": int(hud_control.leadDistanceBars) & 0x3,
-      "ACCCmdActive": 1,
-    }
-
-  # Replay the stock camera dashboard context when openpilot long is enabled
-  # but openpilot itself is not actively driving the ACC cluster state.
-  return {
-    "ACCCruiseState": int(getattr(CS, "stock_acc_cruise_state", 0)) & 0x7,
-    "ACCLeadCar": int(getattr(CS, "stock_acc_lead_car", 0)) & 0x1,
-    "ACCResumeButton": int(getattr(CS, "stock_acc_resume_button", 0)) & 0x1,
-    "ACCSpeedSetpoint": float(getattr(CS, "stock_acc_speed_setpoint_kph", 0.0)),
-    "ACCGapLevel": int(getattr(CS, "stock_acc_gap_level", 0)) & 0x3,
-    "ACCCmdActive": int(getattr(CS, "stock_acc_cmd_active", 0)) & 0x1,
-  }
-
-
 ECM_CRUISE_SPOOF_CARS = {
   CAR.CHEVROLET_BOLT_CC_2017,
   CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -150,14 +170,56 @@ def get_adas_keepalive_step(CP, is_kaofui_car):
   return None
 
 
+def should_send_adas_status(CP, is_kaofui_car):
+  if CP.radarUnavailable:
+    return False
+
+  if not is_kaofui_car:
+    return True
+
+  if CP.carFingerprint in ASCM_INT:
+    return False
+
+  return CP.networkLocation != NetworkLocation.fwdCamera and CP.carFingerprint not in SDGM_CAR
+
+
 def get_testing_ground_1_brake_switch_bias(v_ego: float) -> int:
   return int(round(np.interp(v_ego, [0.0, 6.0, 15.0, 30.0], [40.0, 85.0, 130.0, 170.0])))
 
 
+def shape_truck_positive_accel(accel: float, v_ego: float, enabled: bool) -> float:
+  if not enabled or accel <= 0.0 or v_ego < 12.0:
+    return accel
+
+  low_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.95, 0.88, 0.82, 0.76]))
+  mid_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.98, 0.94, 0.89, 0.84]))
+
+  if accel <= 0.12:
+    return accel * low_scale
+  if accel <= 0.35:
+    return float(np.interp(accel, [0.12, 0.35], [0.12 * low_scale, 0.35 * mid_scale]))
+  if accel <= 0.65:
+    return float(np.interp(accel, [0.35, 0.65], [0.35 * mid_scale, 0.65]))
+  return accel
+
+
+def get_lka_steering_cmd_counter(next_counter: int, CS) -> int:
+  if getattr(CS, "loopback_lka_steering_cmd_updated", False):
+    return (getattr(CS, "loopback_lka_steering_cmd_counter", next_counter) + 1) % 4
+  if next_counter < 0 and getattr(CS, "loopback_lka_steering_cmd_ts_nanos", 0) == 0:
+    return (getattr(CS, "pt_lka_steering_cmd_counter", next_counter) + 1) % 4
+  return next_counter
+
+
+def should_send_stock_long_cancel(cancel_counter: int, CS) -> bool:
+  cs_out = getattr(CS, "out", None)
+  return cancel_counter > CAMERA_CANCEL_DELAY_FRAMES and not bool(getattr(cs_out, "accFaulted", False))
+
+
 def supports_volt_auto_hold(CP, auto_hold_enabled: bool):
   safety_cfg = getattr(CP, "safetyConfigs", ())
   safety_param = safety_cfg[0].safetyParam if safety_cfg else 0
-  stock_hold_safety_ready = CP.openpilotLongitudinalControl or bool(safety_param & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value)
+  stock_hold_safety_ready = bool(safety_param & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value)
   return (
     auto_hold_enabled and
     stock_hold_safety_ready and
@@ -165,19 +227,67 @@ def supports_volt_auto_hold(CP, auto_hold_enabled: bool):
   )
 
 
-def estimate_auto_hold_brake(driver_brake: float, op_brake: float) -> int:
+def supports_volt_one_pedal(CP, one_pedal_enabled: bool):
+  safety_cfg = getattr(CP, "safetyConfigs", ())
+  safety_param = safety_cfg[0].safetyParam if safety_cfg else 0
+  stock_hold_safety_ready = bool(safety_param & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value)
+  return (
+    one_pedal_enabled and
+    stock_hold_safety_ready and
+    getattr(CP, "transmissionType", None) == TransmissionType.direct and
+    CP.carFingerprint in AUTO_HOLD_VOLT_CARS
+  )
+
+
+def estimate_auto_hold_brake(driver_brake: float, op_brake: float, CP=None) -> int:
   driver_hold = np.interp(float(driver_brake), [8.0, 20.0, 40.0, 80.0], [80.0, 110.0, 150.0, 220.0])
   hold_brake = max(float(op_brake), float(driver_hold))
-  return int(round(np.clip(hold_brake, AUTO_HOLD_MIN_BRAKE, AUTO_HOLD_MAX_BRAKE)))
+  min_brake = AUTO_HOLD_2019_MIN_BRAKE if getattr(CP, "carFingerprint", None) == CAR.CHEVROLET_VOLT_2019 else AUTO_HOLD_MIN_BRAKE
+  return int(round(np.clip(hold_brake, min_brake, AUTO_HOLD_MAX_BRAKE)))
+
+
+def get_auto_hold_stop_threshold(CP, auto_hold_engaged: bool) -> float:
+  if auto_hold_engaged and getattr(CP, "carFingerprint", None) == CAR.CHEVROLET_VOLT_2019:
+    return CarControllerParams.NEAR_STOP_BRAKE_PHASE
+  return AUTO_HOLD_STOPPED_SPEED
+
+
+def get_volt_one_pedal_target_decel(v_ego: float) -> float:
+  return float(np.interp(v_ego, VOLT_ONE_PEDAL_DECEL_BP, VOLT_ONE_PEDAL_DECEL_V))
+
+
+def get_volt_one_pedal_lift_brake(v_ego: float) -> int:
+  if v_ego > VOLT_ONE_PEDAL_LIFT_BRAKE_BP[-1]:
+    return 0
+
+  return int(round(np.interp(v_ego, VOLT_ONE_PEDAL_LIFT_BRAKE_BP, VOLT_ONE_PEDAL_LIFT_BRAKE_V)))
+
+
+def should_activate_volt_one_pedal(one_pedal_ready: bool, cruise_main: bool, long_active: bool,
+                                   gas_pressed: bool, brake_pressed: bool, regen_braking: bool,
+                                   single_pedal_mode: bool, gear_shifter, drive_time_s: float) -> bool:
+  # Volt rear wheel direction bits can falsely report reverse while stopping in L.
+  return (
+    one_pedal_ready and
+    cruise_main and
+    single_pedal_mode and
+    gear_shifter in AUTO_HOLD_DRIVE_GEARS and
+    drive_time_s >= AUTO_HOLD_MIN_DRIVE_TIME_S and
+    not long_active and
+    not gas_pressed and
+    not brake_pressed and
+    not regen_braking
+  )
 
 
 def should_activate_auto_hold(hold_ready: bool, auto_hold_armed: bool, auto_hold_engaged: bool,
-                              brake_pressed: bool, standstill: bool, long_active: bool,
-                              regen_braking: bool, v_ego: float) -> bool:
-  stopped = standstill or v_ego < 0.02
+                              brake_pressed: bool, gas_pressed: bool, standstill: bool, long_active: bool,
+                              regen_braking: bool, v_ego: float, stop_speed_threshold: float=AUTO_HOLD_STOPPED_SPEED) -> bool:
+  stopped = standstill or v_ego < stop_speed_threshold
   return (
     hold_ready and
     (auto_hold_armed or auto_hold_engaged or brake_pressed) and
+    not gas_pressed and
     stopped and
     not long_active and
     not regen_braking
@@ -201,6 +311,104 @@ def get_friction_brake_bus(CP):
   return CanBus.CHASSIS
 
 
+def supports_bolt_acc_pedal_friction_experiment(CP) -> bool:
+  return (
+    CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL and
+    CP.openpilotLongitudinalControl and
+    CP.enableGasInterceptorDEPRECATED and
+    bool(CP.flags & GMFlags.PEDAL_LONG.value)
+  )
+
+
+def get_bolt_acc_pedal_friction_brake(apply_brake, full_brake_accel, v_ego, params) -> int:
+  if apply_brake <= 0:
+    return 0
+
+  full_brake_accel = min(full_brake_accel, -0.1)
+  legacy_full_scale = max(-params.ACCEL_MIN, 0.1)
+  corrected_scale = legacy_full_scale / max(-full_brake_accel, 0.1)
+  speed_gain = float(np.interp(v_ego, [0.0, 8.0, 15.0, 25.0], [1.0, 1.08, 1.2, 1.35]))
+  onset_gain = float(np.interp(
+    apply_brake,
+    [0.0, 5.0, 20.0, 60.0, 120.0, 240.0, params.MAX_BRAKE],
+    [0.0, 1.8, 1.65, 1.4, 1.22, 1.08, 1.0],
+  ))
+
+  shaped_brake = apply_brake * corrected_scale * speed_gain * onset_gain
+  minimum_brake = float(np.interp(v_ego, [0.0, 6.0, 8.0, 12.0, 18.0, 25.0], [0.0, 0.0, 4.0, 10.0, 20.0, 28.0]))
+  shaped_brake = max(shaped_brake, minimum_brake)
+
+  return int(round(np.clip(shaped_brake, 0, params.MAX_BRAKE)))
+
+
+def shape_bolt_acc_pedal_low_speed_friction(apply_brake: int, v_ego: float, stopping: bool, active: bool):
+  if apply_brake <= 0:
+    return 0, False
+
+  engage_threshold = float(np.interp(v_ego, [0.0, 1.5, 3.0, 5.0, 8.0], [40.0, 20.0, 12.0, 10.0, 0.0]))
+  release_threshold = float(np.interp(v_ego, [0.0, 1.5, 3.0, 5.0, 8.0], [0.0, 8.0, 6.0, 4.0, 0.0]))
+
+  if not active:
+    if apply_brake < engage_threshold:
+      return 0, False
+    active = True
+  elif apply_brake < release_threshold:
+    return 0, False
+
+  if stopping:
+    stop_fade = float(np.interp(v_ego, [0.0, 0.6, 0.9, 1.2, 1.8, 2.8], [0.0, 0.0, 0.05, 0.12, 0.32, 0.78]))
+    apply_brake = int(round(apply_brake * stop_fade))
+    if apply_brake <= 0 or apply_brake < release_threshold:
+      return 0, False
+
+  return apply_brake, active
+
+
+def get_bolt_pedal_long_accel_limit(v_ego: float) -> float:
+  return float(np.interp(v_ego, BOLT_PEDAL_LONG_ACCEL_LIMIT_BP, BOLT_PEDAL_LONG_ACCEL_LIMIT_V))
+
+
+def get_bolt_acc_pedal_planner_brake_switch(v_ego: float, params, tire_radius: float, mass: float,
+                                            coeff_drag: float, frontal_area: float, air_density: float) -> int:
+  planner_accel_limit = get_bolt_pedal_long_accel_limit(v_ego)
+  aero_drag_force = 0.5 * coeff_drag * frontal_area * air_density * v_ego ** 2
+  planner_torque = tire_radius * ((mass * planner_accel_limit) + aero_drag_force)
+  return int(round(planner_torque + params.ZERO_GAS))
+
+
+def get_bolt_acc_pedal_effective_brake_switch(stock_switch: int, planner_switch: int) -> int:
+  return max(stock_switch, planner_switch)
+
+
+def get_bolt_acc_pedal_friction_command_state(apply_brake: int, cruise_main_on: bool, release_frames: int):
+  command_brake = apply_brake if cruise_main_on else 0
+
+  if command_brake > 0:
+    release_frames = BOLT_ACC_PEDAL_FRICTION_RELEASE_FRAMES
+  elif release_frames > 0:
+    release_frames -= 1
+
+  should_send = cruise_main_on or release_frames > 0
+  return command_brake, release_frames, should_send
+
+
+def get_interceptor_sng_gas_cmd(CP, interceptor_gas_cmd: float, accel: float, params, maneuver_mode: bool) -> float:
+  if maneuver_mode:
+    return max(interceptor_gas_cmd, float(np.interp(accel, [0.0, 1.0, 2.0], [params.SNG_INTERCEPTOR_GAS, 0.11, 0.16])))
+
+  if supports_bolt_acc_pedal_friction_experiment(CP):
+    return max(interceptor_gas_cmd, params.SNG_INTERCEPTOR_GAS)
+
+  return params.SNG_INTERCEPTOR_GAS
+
+
+def should_use_fixed_stopping_brake(CP, near_stop: bool, stopping: bool, resume: bool) -> bool:
+  if not (near_stop and stopping and not resume):
+    return False
+
+  return not supports_bolt_acc_pedal_friction_experiment(CP)
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -254,10 +462,59 @@ class CarController(CarControllerBase):
     self.malibu_button_phase = 0
     self.malibu_last_button_ts_nanos = 0
     self.auto_hold_brake = 0
+    self.volt_one_pedal_pid = PIDController(
+      (CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
+      (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
+      rate=1 / (DT_CTRL * 4),
+      pos_limit=0.0,
+      neg_limit=VOLT_ONE_PEDAL_PID_NEG_LIMIT,
+    )
+    self.volt_one_pedal_decel = 0.0
+    self.volt_one_pedal_brake = 0
+    self.volt_one_pedal_lift_frames = 0
+    self.volt_one_pedal_gas_pressed_last = False
     try:
       self.gm_auto_hold_enabled = self.params_.get_bool("GMAutoHold")
     except UnknownKeyName:
       self.gm_auto_hold_enabled = False
+    self.bolt_acc_pedal_friction_release_frames = 0
+    self.bolt_acc_pedal_friction_low_speed_active = False
+
+  def _reset_volt_one_pedal(self):
+    self.volt_one_pedal_pid.reset()
+    self.volt_one_pedal_decel = min(0.0, float(self.aego))
+    self.volt_one_pedal_brake = 0
+    self.volt_one_pedal_lift_frames = 0
+
+  def _update_volt_one_pedal_brake(self, CC, CS):
+    pitch_accel = 0.0
+    if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+      pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+      pitch_factor_values = VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_V if pitch_accel <= 0.0 else VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_INCLINE_V
+      pitch_accel *= float(np.interp(CS.out.vEgo, VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_BP, pitch_factor_values))
+
+    target_decel = get_volt_one_pedal_target_decel(CS.out.vEgo)
+    measured_decel = min(0.0, CS.out.aEgo + pitch_accel)
+    error_factor = float(np.interp(CS.out.vEgo, VOLT_ONE_PEDAL_SPEED_ERROR_FACTOR_BP, VOLT_ONE_PEDAL_SPEED_ERROR_FACTOR_V))
+    error = (target_decel - measured_decel) * error_factor
+
+    raw_decel = float(self.volt_one_pedal_pid.update(error, speed=CS.out.vEgo, feedforward=target_decel))
+    rate_limit_factor = min(
+      float(np.interp(CS.out.vEgo, VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_SPEED_FACTOR_BP, VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_SPEED_FACTOR_V)),
+      float(np.interp(abs(CS.out.steeringAngleDeg), VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_STEER_FACTOR_BP, VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_STEER_FACTOR_V)),
+    )
+    lower = min(self.volt_one_pedal_decel, measured_decel) - VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_UP * rate_limit_factor
+    upper = max(self.volt_one_pedal_decel, measured_decel) + VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_DOWN + rate_limit_factor
+    self.volt_one_pedal_decel = float(np.clip(raw_decel, lower, upper))
+    self.volt_one_pedal_decel = max(self.volt_one_pedal_decel, VOLT_ONE_PEDAL_MAX_DECEL)
+    self.volt_one_pedal_brake = int(round(np.clip(
+      np.interp(self.volt_one_pedal_decel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V),
+      0,
+      self.params.MAX_BRAKE,
+    )))
+    if self.volt_one_pedal_lift_frames > 0:
+      self.volt_one_pedal_brake = max(self.volt_one_pedal_brake, get_volt_one_pedal_lift_brake(CS.out.vEgo))
+      self.volt_one_pedal_lift_frames -= 1
 
   def calc_pedal_command(self, accel: float, long_active: bool, v_ego: float):
     if not long_active:
@@ -411,7 +668,37 @@ class CarController(CarControllerBase):
     accel = actuators.accel
     press_regen_paddle = False
     auto_hold_enabled = supports_volt_auto_hold(self.CP, self.gm_auto_hold_enabled)
-    stock_hold_apply_brake = self.apply_brake if self.CP.openpilotLongitudinalControl else 0
+    volt_one_pedal_supported = supports_volt_one_pedal(
+      self.CP, bool(getattr(starpilot_toggles, "volt_one_pedal_mode", False))
+    )
+    volt_one_pedal_active = should_activate_volt_one_pedal(
+      volt_one_pedal_supported,
+      CS.out.cruiseState.available,
+      CC.longActive,
+      CS.out.gasPressed,
+      CS.out.brakePressed,
+      CS.out.regenBraking,
+      bool(getattr(CS, "single_pedal_mode", False)),
+      CS.out.gearShifter,
+      float(getattr(CS, "one_pedal_drive_time", 0.0)),
+    )
+    if volt_one_pedal_active and self.volt_one_pedal_gas_pressed_last and not CS.out.gasPressed:
+      if CS.out.vEgo < VOLT_ONE_PEDAL_LIFT_BRAKE_BP[-1]:
+        self.volt_one_pedal_lift_frames = VOLT_ONE_PEDAL_LIFT_BRAKE_FRAMES
+    elif CS.out.gasPressed or not volt_one_pedal_active:
+      self.volt_one_pedal_lift_frames = 0
+
+    if self.frame % 4 == 0:
+      if volt_one_pedal_active:
+        self._update_volt_one_pedal_brake(CC, CS)
+      else:
+        self._reset_volt_one_pedal()
+      if not self.CP.openpilotLongitudinalControl:
+        self.apply_gas = 0
+        self.apply_brake = self.volt_one_pedal_brake if volt_one_pedal_active else 0
+    self.volt_one_pedal_gas_pressed_last = CS.out.gasPressed
+
+    stock_hold_apply_brake = max(self.apply_brake if self.CP.openpilotLongitudinalControl else 0, self.volt_one_pedal_brake)
 
     hold_ready = (
       auto_hold_enabled and
@@ -421,6 +708,8 @@ class CarController(CarControllerBase):
     )
     if not hold_ready or CS.out.gasPressed:
       CS.auto_hold_armed = False
+      if CS.out.gasPressed:
+        CS.auto_hold_engaged = False
     elif CS.regen_release_timer > 0.0:
       CS.auto_hold_armed = False
     elif not CS.auto_hold_armed and (CS.out.vEgo > 0.03 or ((CS.out.standstill or CS.out.vEgo < 0.02) and CS.out.brakePressed)):
@@ -429,7 +718,7 @@ class CarController(CarControllerBase):
     if CS.out.vEgo > 0.1 or CS.out.gasPressed or CS.out.gearShifter not in AUTO_HOLD_DRIVE_GEARS:
       self.auto_hold_brake = 0
     elif CS.out.brakePressed or stock_hold_apply_brake > 0:
-      self.auto_hold_brake = estimate_auto_hold_brake(CS.out.brake, stock_hold_apply_brake)
+      self.auto_hold_brake = estimate_auto_hold_brake(CS.out.brake, stock_hold_apply_brake, self.CP)
 
     if self.frame % 25 == 0:
       try:
@@ -520,10 +809,23 @@ class CarController(CarControllerBase):
       CS.auto_hold_armed,
       CS.auto_hold_engaged,
       CS.out.brakePressed,
+      CS.out.gasPressed,
       CS.out.standstill,
       CC.longActive,
       CS.out.regenBraking,
       CS.out.vEgo,
+      get_auto_hold_stop_threshold(self.CP, CS.auto_hold_engaged),
+    )
+    bolt_acc_pedal_friction_experiment = supports_bolt_acc_pedal_friction_experiment(self.CP)
+    bolt_acc_pedal_friction_main_on = bolt_acc_pedal_friction_experiment and CS.out.cruiseState.available
+    if not bolt_acc_pedal_friction_main_on:
+      self.bolt_acc_pedal_friction_low_speed_active = False
+    volt_one_pedal_braking = volt_one_pedal_active and self.volt_one_pedal_brake > 0
+    volt_one_pedal_hold_active = (
+      volt_one_pedal_braking and
+      not auto_hold_active and
+      CS.one_pedal_drive_time >= AUTO_HOLD_MIN_DRIVE_TIME_S and
+      (CS.out.standstill or CS.out.vEgo < 0.02)
     )
 
     # Steering (Active: 50Hz, inactive: 10Hz)
@@ -578,6 +880,7 @@ class CarController(CarControllerBase):
           # ASCM sends max regen when not enabled
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = 0
+          self.bolt_acc_pedal_friction_low_speed_active = False
           self.planner_regen_hold = False
           self.regen_paddle_pressed = False
           self.regen_paddle_timer = 0
@@ -585,7 +888,7 @@ class CarController(CarControllerBase):
           self.regen_release_counter = 0
           self.regen_min_on_frames = 0
           self.regen_min_off_frames = 0
-        elif near_stop and stopping and not CC.cruiseControl.resume:
+        elif should_use_fixed_stopping_brake(self.CP, near_stop, stopping, CC.cruiseControl.resume):
           stop_accel = getattr(starpilot_toggles, "stopAccel", self.CP.stopAccel)
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = int(min(-100 * stop_accel, self.params.MAX_BRAKE))
@@ -629,7 +932,16 @@ class CarController(CarControllerBase):
             if testing_ground.use_1:
               accel_max = min(accel_max, np.interp(CS.out.vEgo, [0.0, 4.0, 12.0], [1.25, 1.6, self.params.ACCEL_MAX]))
 
-            accel_cmd = float(np.clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max))
+            accel_input = actuators.accel + accel_due_to_pitch
+            if (
+              getattr(starpilot_toggles, "truck_tuning", False) and
+              self.CP.carFingerprint in TRUCK_LONG_SMOOTH_CARS and
+              getattr(self.CP, "transmissionType", None) == TransmissionType.automatic and
+              not self.CP.enableGasInterceptorDEPRECATED
+            ):
+              accel_input = shape_truck_positive_accel(accel_input, CS.out.vEgo, True)
+
+            accel_cmd = float(np.clip(accel_input, self.params.ACCEL_MIN, accel_max))
             torque = self.tireRadius * ((self.mass * accel_cmd) + (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2))
             scaled_torque = torque + self.params.ZERO_GAS
             apply_gas_torque = np.clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
@@ -637,9 +949,27 @@ class CarController(CarControllerBase):
             if testing_ground.use_1:
               brake_switch_bias = get_testing_ground_1_brake_switch_bias(CS.out.vEgo)
               brake_switch = min(self.params.ZERO_GAS, brake_switch + brake_switch_bias)
+            if bolt_acc_pedal_friction_main_on:
+              planner_brake_switch = get_bolt_acc_pedal_planner_brake_switch(
+                CS.out.vEgo, self.params, self.tireRadius, self.mass, self.coeffDrag, self.frontalArea, self.airDensity,
+              )
+              brake_switch = get_bolt_acc_pedal_effective_brake_switch(brake_switch, planner_brake_switch)
             brake_accel = min((scaled_torque - brake_switch) / (self.tireRadius * self.mass), 0)
             self.apply_gas = int(round(apply_gas_torque))
             self.apply_brake = int(round(np.interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+            if bolt_acc_pedal_friction_main_on:
+              if self.apply_brake > 0:
+                full_brake_accel = min(
+                  self.params.ACCEL_MIN + (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2) / self.mass +
+                  (self.params.ZERO_GAS - brake_switch) / (self.tireRadius * self.mass),
+                  -0.1,
+                )
+                self.apply_brake = get_bolt_acc_pedal_friction_brake(
+                  self.apply_brake, full_brake_accel, CS.out.vEgo, self.params,
+                )
+              self.apply_brake, self.bolt_acc_pedal_friction_low_speed_active = shape_bolt_acc_pedal_low_speed_friction(
+                self.apply_brake, CS.out.vEgo, stopping, self.bolt_acc_pedal_friction_low_speed_active,
+              )
             if self.apply_brake > 0:
               self.apply_gas = self.params.INACTIVE_REGEN
 
@@ -650,15 +980,19 @@ class CarController(CarControllerBase):
             # gas interceptor only used for full long control on cars without ACC
             interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
 
+        if volt_one_pedal_braking:
+          self.apply_gas = self.params.INACTIVE_REGEN
+          self.apply_brake = max(self.apply_brake, self.volt_one_pedal_brake)
+
         maneuver_sng_launch = self.longitudinal_maneuver_mode and self.is_volt
         if (
           self.CP.enableGasInterceptorDEPRECATED and
           self.apply_gas > self.params.INACTIVE_REGEN and
           use_interceptor_sng_launch(self.CP, CS, maneuver_sng_launch)
         ):
-          interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS
-          if maneuver_sng_launch:
-            interceptor_gas_cmd = max(interceptor_gas_cmd, float(np.interp(actuators.accel, [0.0, 1.0, 2.0], [self.params.SNG_INTERCEPTOR_GAS, 0.11, 0.16])))
+          interceptor_gas_cmd = get_interceptor_sng_gas_cmd(
+            self.CP, interceptor_gas_cmd, actuators.accel, self.params, maneuver_sng_launch,
+          )
           self.apply_brake = 0
           self.apply_gas = self.params.INACTIVE_REGEN
 
@@ -692,6 +1026,27 @@ class CarController(CarControllerBase):
               can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
         if self.CP.enableGasInterceptorDEPRECATED:
           can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
+        if bolt_acc_pedal_friction_experiment:
+          friction_brake_bus = get_friction_brake_bus(self.CP)
+          if self.CP.networkLocation == NetworkLocation.fwdCamera:
+            at_full_stop = at_full_stop and stopping
+
+          experiment_brake, self.bolt_acc_pedal_friction_release_frames, should_send_bolt_acc_pedal_friction = \
+            get_bolt_acc_pedal_friction_command_state(
+              self.apply_brake,
+              bolt_acc_pedal_friction_main_on,
+              self.bolt_acc_pedal_friction_release_frames,
+            )
+
+          # This fingerprint is routed through the CC-only pedal path, so it
+          # does not fall through to the normal friction-brake sender below.
+          # Never apply stock friction with cruise main off, but do send a short
+          # explicit zero-brake unwind so the last nonzero stock-EBCM command
+          # cannot linger after a disengage or main-off event.
+          if should_send_bolt_acc_pedal_friction:
+            can_sends.append(gmcan.create_friction_brake_command(
+              self.packer_ch, friction_brake_bus, experiment_brake, idx, bolt_acc_pedal_friction_main_on,
+              near_stop, at_full_stop, self.CP))
         if self.CP.carFingerprint not in CC_ONLY_CAR:
           friction_brake_bus = get_friction_brake_bus(self.CP)
           # GM Camera exceptions
@@ -709,57 +1064,65 @@ class CarController(CarControllerBase):
             acc_engaged = CC.enabled
 
           if auto_hold_active:
-            hold_brake = self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, self.apply_brake)
+            hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, self.apply_brake, self.CP))
             hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
             hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
             can_sends.append(gmcan.create_friction_brake_command(
-              self.packer_ch, friction_brake_bus, hold_brake, idx, False, hold_near_stop, hold_standstill, self.CP))
+              self.packer_ch, friction_brake_bus, hold_brake, idx, False, hold_near_stop, hold_standstill,
+              self.CP, allow_near_stop_mode=True))
+            CS.auto_hold_engaged = True
+            CS.auto_hold_fault_suppression_timer = 1.0
+          elif volt_one_pedal_hold_active:
+            hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(0.0, self.volt_one_pedal_brake, self.CP))
+            hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
+            hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
+            can_sends.append(gmcan.create_friction_brake_command(
+              self.packer_ch, friction_brake_bus, hold_brake, idx, False, hold_near_stop, hold_standstill,
+              self.CP, allow_near_stop_mode=True))
             CS.auto_hold_engaged = True
             CS.auto_hold_fault_suppression_timer = 1.0
           else:
+            if volt_one_pedal_braking:
+              at_full_stop = at_full_stop or CS.pcm_acc_status == AccState.STANDSTILL
+              near_stop = near_stop or (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
             # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
             can_sends.append(gmcan.create_gas_regen_command(
               self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop,
               include_always_one3=self.CP.carFingerprint in kaofui_cars, use_volt_layout=self.is_volt))
             can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
-                                                               idx, CC.enabled, near_stop, at_full_stop, self.CP))
+                                                               idx, CC.enabled, near_stop, at_full_stop, self.CP,
+                                                               allow_near_stop_mode=volt_one_pedal_braking))
             CS.auto_hold_engaged = False
 
         if should_send_acc_dashboard_status(self.CP, dash_speed_spoof_active):
-          acc_dashboard_status = get_acc_dashboard_status_values(CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, CS)
           fcw_alert = get_acc_dashboard_fcw_alert(hud_alert, CS)
-          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN,
-                                                              acc_dashboard_status, fcw_alert))
+          acc_dashboard_status_active = get_acc_dashboard_status_active(self.CP, CC)
+          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, acc_dashboard_status_active,
+                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control, fcw_alert))
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)
-      if not self.CP.radarUnavailable:
-        send_adas = True
+      if should_send_adas_status(self.CP, self.CP.carFingerprint in kaofui_cars):
+        tt = self.frame * DT_CTRL
         if self.CP.carFingerprint in kaofui_cars:
-          if self.CP.carFingerprint not in ASCM_INT:
-            send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
-
-        if send_adas:
-          tt = self.frame * DT_CTRL
-          if self.CP.carFingerprint in kaofui_cars:
-            time_and_headlights_step = 10
-            speed_and_accelerometer_step = 2
-            if self.frame % time_and_headlights_step == 0:
-              idx = (self.frame // time_and_headlights_step) % 4
-              can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-              can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
-            if self.frame % speed_and_accelerometer_step == 0:
-              idx = (self.frame // speed_and_accelerometer_step) % 4
-              can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
-              can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
-          else:
-            time_and_headlights_step = 20
-            if self.frame % time_and_headlights_step == 0:
-              idx = (self.frame // time_and_headlights_step) % 4
-              can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-              can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
-              can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
-              can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+          time_and_headlights_step = 10
+          speed_and_accelerometer_step = 2
+          if self.frame % time_and_headlights_step == 0:
+            idx = (self.frame // time_and_headlights_step) % 4
+            can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+            can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+          if self.frame % speed_and_accelerometer_step == 0:
+            idx = (self.frame // speed_and_accelerometer_step) % 4
+            can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+            can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+        else:
+          time_and_headlights_step = 20
+          if self.frame % time_and_headlights_step == 0:
+            idx = (self.frame // time_and_headlights_step) % 4
+            can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+            can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+            can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+            can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
 
       keepalive_step = get_adas_keepalive_step(self.CP, self.CP.carFingerprint in kaofui_cars)
       if keepalive_step is not None and self.frame % keepalive_step == 0:
@@ -785,14 +1148,33 @@ class CarController(CarControllerBase):
     else:
       if self.frame % 4 == 0 and auto_hold_active:
         idx = (self.frame // 4) % 4
-        hold_brake = self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, stock_hold_apply_brake)
+        hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, stock_hold_apply_brake, self.CP))
         hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
         hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
         can_sends.append(gmcan.create_friction_brake_command(
-          self.packer_ch, get_friction_brake_bus(self.CP), hold_brake, idx, False, hold_near_stop, hold_standstill, self.CP))
+          self.packer_ch, get_friction_brake_bus(self.CP), hold_brake, idx, False, hold_near_stop, hold_standstill,
+          self.CP, allow_near_stop_mode=True))
         CS.auto_hold_engaged = True
         CS.auto_hold_fault_suppression_timer = 1.0
+      elif self.frame % 4 == 0 and volt_one_pedal_hold_active:
+        idx = (self.frame // 4) % 4
+        hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(0.0, self.volt_one_pedal_brake, self.CP))
+        hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
+        hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
+        can_sends.append(gmcan.create_friction_brake_command(
+          self.packer_ch, get_friction_brake_bus(self.CP), hold_brake, idx, False, hold_near_stop, hold_standstill,
+          self.CP, allow_near_stop_mode=True))
+        CS.auto_hold_engaged = True
+        CS.auto_hold_fault_suppression_timer = 1.0
+      elif self.frame % 4 == 0 and volt_one_pedal_braking:
+        idx = (self.frame // 4) % 4
+        near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
+        can_sends.append(gmcan.create_friction_brake_command(
+          self.packer_ch, get_friction_brake_bus(self.CP), self.volt_one_pedal_brake, idx, False, near_stop, False,
+          self.CP, allow_near_stop_mode=True))
+        CS.auto_hold_engaged = False
       elif self.frame % 4 == 0:
+        self.apply_brake = 0
         CS.auto_hold_engaged = False
 
       # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.

opendbc_repo/opendbc/car/gm/carstate.py

@@ -33,6 +33,13 @@ AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S = 1.0
 
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
+HARD_BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise}
+NORMAL_CRUISE_BUTTONS = (CruiseButtons.RES_ACCEL, CruiseButtons.DECEL_SET)
+
+
+def get_hard_cruise_buttons(steering_button_msg: dict) -> int:
+  return steering_button_msg.get("ACCButtonsHard", CruiseButtons.INIT)
+
 
 GearShifter = structs.CarState.GearShifter
 BOLT_GEN1_CANCEL_PERSONALITY_CARS = {
@@ -45,6 +52,19 @@ BOLT_CANCEL_BUTTON_CARS = BOLT_GEN1_CANCEL_PERSONALITY_CARS | {
 }
 
 
+def update_auto_hold_drive_timers(in_drive_for_hold: bool, moving_for_hold: bool,
+                                  auto_hold_drive_time: float, one_pedal_drive_time: float) -> tuple[float, float]:
+  if in_drive_for_hold:
+    if moving_for_hold:
+      auto_hold_drive_time = min(auto_hold_drive_time + DT_CTRL, AUTO_HOLD_MIN_DRIVE_TIME_S)
+      one_pedal_drive_time = min(one_pedal_drive_time + DT_CTRL, AUTO_HOLD_MIN_DRIVE_TIME_S)
+  else:
+    auto_hold_drive_time = 0.0
+    one_pedal_drive_time = 0.0
+
+  return auto_hold_drive_time, one_pedal_drive_time
+
+
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
@@ -64,11 +84,14 @@ class CarState(CarStateBase):
 
     self.prev_distance_button = 0
     self.distance_button = 0
+    self.hard_cruise_buttons = CruiseButtons.INIT
+    self.force_reset_cruise_buttons = False
 
     self.single_pedal_mode = False
     self.auto_hold_armed = False
     self.auto_hold_engaged = False
     self.auto_hold_drive_time = 0.0
+    self.one_pedal_drive_time = 0.0
     self.auto_hold_fault_suppression_timer = 0.0
     self.regen_release_timer = 0.0
     self.user_regen_paddle_pressed = False
@@ -81,12 +104,6 @@ class CarState(CarStateBase):
     self.lkas_enabled = 0
     self.pcm_acc_status = AccState.OFF
     self.stock_fcw_alert = 0
-    self.stock_acc_cruise_state = 0
-    self.stock_acc_lead_car = 0
-    self.stock_acc_resume_button = 0
-    self.stock_acc_speed_setpoint_kph = 0.0
-    self.stock_acc_gap_level = 0
-    self.stock_acc_cmd_active = 0
 
   def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
     if not self.CP.pcmCruise:
@@ -119,21 +136,36 @@ class CarState(CarStateBase):
     sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in kaofui_state_cars
 
     prev_cruise_buttons = self.cruise_buttons
+    prev_hard_cruise_buttons = self.hard_cruise_buttons
     prev_distance_button = self.distance_button
     if not sdgm_non_volt:
-      self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-      self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
-      self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
-      self.steering_button_checksum = pt_cp.vl["ASCMSteeringButton"]["SteeringButtonChecksum"]
+      steering_button_msg = pt_cp.vl["ASCMSteeringButton"]
+      self.cruise_buttons = steering_button_msg["ACCButtons"]
+      self.hard_cruise_buttons = get_hard_cruise_buttons(steering_button_msg)
+      self.distance_button = steering_button_msg["DistanceButton"]
+      self.buttons_counter = steering_button_msg["RollingCounter"]
+      self.steering_button_checksum = steering_button_msg["SteeringButtonChecksum"]
       self.steering_button_ts_nanos = pt_cp.ts_nanos["ASCMSteeringButton"]["ACCButtons"]
-      acc_always_one = pt_cp.vl["ASCMSteeringButton"]["ACCAlwaysOne"]
-      acc_hidden_bit = pt_cp.vl["ASCMSteeringButton"].get("ACCHiddenBit", 0)
+      acc_always_one = steering_button_msg["ACCAlwaysOne"]
+      acc_hidden_bit = steering_button_msg.get("ACCHiddenBit", 0)
       self.steering_button_prefix = (int(acc_always_one) & 1) | ((int(acc_hidden_bit) & 1) << 6)
     else:
-      self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-      self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
-      self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+      steering_button_msg = cam_cp.vl["ASCMSteeringButton"]
+      self.cruise_buttons = steering_button_msg["ACCButtons"]
+      self.hard_cruise_buttons = get_hard_cruise_buttons(steering_button_msg)
+      self.distance_button = steering_button_msg["DistanceButton"]
+      self.buttons_counter = steering_button_msg["RollingCounter"]
       self.steering_button_ts_nanos = cam_cp.ts_nanos["ASCMSteeringButton"]["ACCButtons"]
+
+    # A GM hard press keeps the normal cruise button signal active too. Suppress
+    # the normal button until the wheel reports a different normal state.
+    if self.hard_cruise_buttons != CruiseButtons.INIT and self.cruise_buttons in NORMAL_CRUISE_BUTTONS:
+      self.force_reset_cruise_buttons = True
+    if self.force_reset_cruise_buttons and self.cruise_buttons in NORMAL_CRUISE_BUTTONS:
+      self.cruise_buttons = CruiseButtons.UNPRESS
+    elif self.force_reset_cruise_buttons and self.cruise_buttons not in NORMAL_CRUISE_BUTTONS:
+      self.force_reset_cruise_buttons = False
+
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2)
 
@@ -178,7 +210,10 @@ class CarState(CarStateBase):
       ret.brakePressed = ret.brake >= VOLT_EBCM_BRAKE_PRESSED_THRESHOLD
     elif self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
       ret.brakePressed = ret.brake >= 8
-    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
+    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (
+      self.CP.networkLocation == NetworkLocation.fwdCamera and
+      self.CP.carFingerprint not in (SDGM_CAR | ASCM_INT | {CAR.CHEVROLET_BLAZER})
+    ):
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
       # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
@@ -189,13 +224,10 @@ class CarState(CarStateBase):
       ret.brakePressed = ret.brake >= analog_thresh
 
     in_drive_for_hold = ret.gearShifter in (GearShifter.drive, GearShifter.low, GearShifter.manumatic)
-    if in_drive_for_hold:
-      if ret.brakePressed:
-        self.auto_hold_drive_time = AUTO_HOLD_MIN_DRIVE_TIME_S
-      else:
-        self.auto_hold_drive_time = min(self.auto_hold_drive_time + DT_CTRL, AUTO_HOLD_MIN_DRIVE_TIME_S)
-    else:
-      self.auto_hold_drive_time = 0.0
+    self.auto_hold_drive_time, self.one_pedal_drive_time = update_auto_hold_drive_timers(
+      in_drive_for_hold, ret.vEgo > 0.1, self.auto_hold_drive_time, self.one_pedal_drive_time
+    )
+    if not in_drive_for_hold:
       self.auto_hold_armed = False
       self.auto_hold_engaged = False
 
@@ -280,12 +312,6 @@ class CarState(CarStateBase):
         acc_dashboard_status = cam_cp.vl["ASCMActiveCruiseControlStatus"]
         if self.CP.carFingerprint not in CC_ONLY_CAR:
           ret.cruiseState.speed = acc_dashboard_status["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-        self.stock_acc_cruise_state = int(acc_dashboard_status["ACCCruiseState"])
-        self.stock_acc_lead_car = int(acc_dashboard_status["ACCLeadCar"])
-        self.stock_acc_resume_button = int(acc_dashboard_status["ACCResumeButton"])
-        self.stock_acc_speed_setpoint_kph = float(acc_dashboard_status["ACCSpeedSetpoint"])
-        self.stock_acc_gap_level = int(acc_dashboard_status["ACCGapLevel"])
-        self.stock_acc_cmd_active = int(acc_dashboard_status["ACCCmdActive"])
         # Preserve the stock camera FCW level from 0x370 so the controller can
         # replay it when that message is blocked and spoofed by openpilot long.
         self.stock_fcw_alert = int(acc_dashboard_status["FCWAlert"])
@@ -374,19 +400,26 @@ class CarState(CarStateBase):
     lkas_events = [] if (suppress_malibu_side_buttons or suppress_bolt_cancel_lkas) else create_button_events(
       self.lkas_enabled, self.lkas_previously_enabled, {1: ButtonType.lkas}
     )
+    hard_cruise_events = create_button_events(
+      self.hard_cruise_buttons, prev_hard_cruise_buttons, HARD_BUTTONS_DICT, unpressed_btn=CruiseButtons.INIT
+    )
 
     # Don't add events if transitioning from INIT, unless it's to an actual button.
-    if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
+    if (self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT or
+        self.hard_cruise_buttons != CruiseButtons.INIT or prev_hard_cruise_buttons != CruiseButtons.INIT):
       ret.buttonEvents = [
         *cruise_events,
         *distance_events,
         *lkas_events,
+        *hard_cruise_events,
       ]
 
     if ret.vEgo < self.CP.minSteerSpeed:
       ret.lowSpeedAlert = True
 
     fp_ret = custom.StarPilotCarState.new_message()
+    fp_ret.accelHardCruise = self.hard_cruise_buttons == CruiseButtons.RES_ACCEL or prev_hard_cruise_buttons == CruiseButtons.RES_ACCEL
+    fp_ret.decelHardCruise = self.hard_cruise_buttons == CruiseButtons.DECEL_SET or prev_hard_cruise_buttons == CruiseButtons.DECEL_SET
     if bolt_cancel_button and self.cruise_buttons == CruiseButtons.CANCEL:
       fp_ret.cancelPressed = True
     fp_ret.sportGear = pt_cp.vl["SportMode"]["SportMode"] == 1

opendbc_repo/opendbc/car/gm/fingerprints.py

@@ -7,6 +7,7 @@ from opendbc.car.gm.values import CAR
 
 CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
 CAMERA_DIAGNOSTIC_RX_ADDRESS = 0x64b
+SASCM_ADDRESS = 0x2FF
 
 
 FINGERPRINTS = {
@@ -210,13 +211,16 @@ FINGERPRINTS.update({
   CAR.GMC_ACADIA_ASCM: FINGERPRINTS[CAR.GMC_ACADIA],
   CAR.CHEVROLET_MALIBU_ASCM: FINGERPRINTS[CAR.CHEVROLET_MALIBU],
   CAR.CADILLAC_ESCALADE_ASCM: FINGERPRINTS[CAR.CADILLAC_ESCALADE],
+  CAR.CADILLAC_ESCALADE_ESV_2019_ASCM: [{**fp, SASCM_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CADILLAC_ESCALADE_ESV_2019]],
   CAR.CHEVROLET_SUBURBAN: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
   CAR.GMC_YUKON_CC: FINGERPRINTS[CAR.GMC_YUKON],
   CAR.CADILLAC_XT6: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
+  CAR.CADILLAC_XT5: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
   CAR.CHEVROLET_BLAZER: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
   CAR.CHEVROLET_MALIBU_SDGM: FINGERPRINTS[CAR.CHEVROLET_MALIBU_CC],
   CAR.BUICK_BABYENCLAVE: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
   CAR.CHEVROLET_SILVERADO_CC: FINGERPRINTS[CAR.CHEVROLET_SILVERADO],
+  CAR.BUICK_LACROSSE_ASCM: FINGERPRINTS[CAR.BUICK_LACROSSE],
 })
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -179,22 +179,28 @@ def create_ecm_cruise_control_command(packer, bus, enabled, target_speed_kph):
   return CanData(0x3D1, bytes(dat), bus)
 
 
-def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
+def get_friction_brake_mode(apply_brake, enabled, near_stop, at_full_stop, CP, allow_near_stop_mode=False):
   mode = 0x1
 
   # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
-  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023,):
+  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL):
     mode = 0x9
 
   if apply_brake > 0:
     mode = 0xa
     if at_full_stop:
       mode = 0xd
+    elif allow_near_stop_mode and near_stop:
+      # Stock Volt auto hold can run with cruise main on but ACC inactive, so
+      # there is no stock STANDSTILL state to promote 0xa -> 0xd. Restore the
+      # older near-stop hold mode only for that path.
+      mode = 0xb
 
-    # TODO: this is to have GM bringing the car to complete stop,
-    # but currently it conflicts with OP controls, so turned off. Not set by all cars
-    #elif near_stop:
-    #  mode = 0xb
+  return mode
+
+
+def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP, allow_near_stop_mode=False):
+  mode = get_friction_brake_mode(apply_brake, enabled, near_stop, at_full_stop, CP, allow_near_stop_mode)
 
   brake = (0x1000 - apply_brake) & 0xfff
   checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
@@ -209,18 +215,17 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
 
-def create_acc_dashboard_command(packer, bus, status_values, fcw_alert):
-  target_speed = min(max(float(status_values.get("ACCSpeedSetpoint", 0.0)), 0.0), 255.0)
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw_alert):
+  target_speed = min(target_speed_kph, 255)
 
   values = {
     "ACCAlwaysOne": 1,
-    "ACCCruiseState": int(status_values.get("ACCCruiseState", 0)) & 0x7,
-    "ACCResumeButton": int(status_values.get("ACCResumeButton", 0)) & 0x1,
+    "ACCResumeButton": 0,
     "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": int(status_values.get("ACCGapLevel", 0)) & 0x3,
-    "ACCCmdActive": int(status_values.get("ACCCmdActive", 0)) & 0x1,
+    "ACCGapLevel": hud_control.leadDistanceBars * enabled,  # 3 "far", 0 "inactive"
+    "ACCCmdActive": enabled,
     "ACCAlwaysOne2": 1,
-    "ACCLeadCar": int(status_values.get("ACCLeadCar", 0)) & 0x1,
+    "ACCLeadCar": hud_control.leadVisible,
     "FCWAlert": int(fcw_alert) & 0x3,
   }
 

opendbc_repo/opendbc/car/gm/interface.py

@@ -62,9 +62,13 @@ NON_LINEAR_TORQUE_PARAMS = {
     "left": [3.8, 0.81, 0.24, 0.0465122],
     "right": [3.8, 0.81, 0.24, 0.0465122],
   },
+  CAR.CADILLAC_XT4: {
+    "left": [2.4, 0.95, 0.28, 0.0],
+    "right": [2.4, 0.95, 0.28, 0.0],
+  },
   CAR.CHEVROLET_VOLT: {
-    "left": [1.5, 1.0, 0.155, 0.0],
-    "right": [1.5, 1.0, 0.155, 0.0],
+    "left": [1.525, 1.05, 0.155, 0.0],
+    "right": [1.525, 0.95, 0.150, 0.0],
   },
 }
 
@@ -129,7 +133,11 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     if CP.enableGasInterceptorDEPRECATED and bool(CP.flags & GMFlags.PEDAL_LONG.value):
-      if CP.carFingerprint in BOLT_PEDAL_LONG_CARS:
+      if CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
+        accel_min = CarControllerParams.ACCEL_MIN
+        accel_max = np.interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0],
+                              [0.54, 0.74, 1.03, 1.46, CarControllerParams.ACCEL_MAX])
+      elif CP.carFingerprint in BOLT_PEDAL_LONG_CARS:
         accel_min = np.interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0, 30.0],
                               [-0.93, -1.28, -1.98, -2.58, -2.86, -2.95])
         accel_max = np.interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0],
@@ -213,6 +221,10 @@ class CarInterface(CarInterfaceBase):
       gm_auto_hold = params.get_bool("GMAutoHold")
     except UnknownKeyName:
       gm_auto_hold = False
+    try:
+      volt_one_pedal_mode = params.get_bool("VoltOnePedalMode")
+    except UnknownKeyName:
+      volt_one_pedal_mode = False
 
     ret.brand = "gm"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
@@ -410,8 +422,8 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.BUICK_LACROSSE:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif candidate in (CAR.BUICK_LACROSSE, CAR.BUICK_LACROSSE_ASCM):
+      CarInterfaceBase.configure_torque_tune(CAR.BUICK_LACROSSE, ret.lateralTuning)
 
     elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
@@ -420,7 +432,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.CADILLAC_ESCALADE_ASCM:
       CarInterfaceBase.configure_torque_tune(CAR.CADILLAC_ESCALADE, ret.lateralTuning)
 
-    elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
+    elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019, CAR.CADILLAC_ESCALADE_ESV_2019_ASCM):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
 
       if candidate == CAR.CADILLAC_ESCALADE_ESV:
@@ -429,7 +441,8 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kf = 0.000045
       else:
         ret.steerActuatorDelay = 0.2
-        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+        torque_candidate = CAR.CADILLAC_ESCALADE_ESV_2019 if candidate == CAR.CADILLAC_ESCALADE_ESV_2019_ASCM else candidate
+        CarInterfaceBase.configure_torque_tune(torque_candidate, ret.lateralTuning)
 
     elif candidate in (
       CAR.CHEVROLET_BOLT_ACC_2022_2023,
@@ -515,7 +528,19 @@ class CarInterface(CarInterfaceBase):
       if not ret.openpilotLongitudinalControl:
         ret.minEnableSpeed = -1.
       if candidate == CAR.CHEVROLET_BLAZER:
+        # The Blazer builds brake torque noticeably later than the rest of the GM set.
+        # A slightly larger planner delay estimate starts the request earlier and keeps
+        # stopped-lead approaches from turning into a late, harsh max-brake catch-up.
+        ret.longitudinalActuatorDelay = 0.7
+        ret.longitudinalTuning.kpBP = [0.0, 4.0, 12.0, 35.0]
+        ret.longitudinalTuning.kpV = [0.09, 0.075, 0.055, 0.040]
+        ret.longitudinalTuning.kiBP = [0.0, 4.0, 12.0, 35.0]
+        ret.longitudinalTuning.kiV = [0.03, 0.04, 0.055, 0.07]
         ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+        ret.stoppingDecelRate = 1.0
+        ret.vEgoStopping = 0.35
+        ret.vEgoStarting = 0.35
+        ret.stopAccel = -0.30
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BUICK_BABYENCLAVE:
@@ -609,6 +634,12 @@ class CarInterface(CarInterfaceBase):
       ret.startAccel = 1.15
       ret.vEgoStarting = max(ret.vEgoStarting, 0.35)
 
+    if ret.openpilotLongitudinalControl and candidate in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC) and not ret.enableGasInterceptorDEPRECATED:
+      ret.longitudinalTuning.kpBP = [0.0, 5.0, 15.0, 35.0]
+      ret.longitudinalTuning.kpV = [0.02, 0.03, 0.028, 0.022]
+      ret.longitudinalTuning.kiBP = [0.0, 5.0, 15.0, 35.0]
+      ret.longitudinalTuning.kiV = [0.28, 0.26, 0.20, 0.16]
+
     elif candidate in CC_ONLY_CAR and not ret.enableGasInterceptorDEPRECATED:
       ret.flags |= GMFlags.CC_LONG.value
       ret.alphaLongitudinalAvailable = False
@@ -639,7 +670,7 @@ class CarInterface(CarInterfaceBase):
 
     # Exception for flashed cars, or cars whose camera was removed.
     missing_camera_msg = CAM_MSG not in fingerprint.get(CanBus.CAMERA, {})
-    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and missing_camera_msg and candidate not in SDGM_CAR:
+    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and missing_camera_msg and candidate not in (ASCM_INT | SDGM_CAR):
       ret.flags |= GMFlags.NO_CAMERA.value
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value
 
@@ -657,9 +688,8 @@ class CarInterface(CarInterfaceBase):
     if remote_start_boots_comma:
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_REMOTE_START_BOOTS_COMMA.value
 
-    volt_stock_auto_hold_safety = (
-      gm_auto_hold and
-      not ret.openpilotLongitudinalControl and
+    volt_stock_friction_brake_safety = (
+      (gm_auto_hold or volt_one_pedal_mode) and
       candidate in {
         CAR.CHEVROLET_VOLT,
         CAR.CHEVROLET_VOLT_2019,
@@ -667,11 +697,28 @@ class CarInterface(CarInterfaceBase):
         CAR.CHEVROLET_VOLT_CAMERA,
       }
     )
-    if volt_stock_auto_hold_safety:
-      # Reuse the paddle-scheduler safety bit as a stock-Volt auto-hold marker on
-      # non-pedal paths. The scheduler logic remains inactive without pedal-long.
+    if volt_stock_friction_brake_safety:
+      # Reuse the paddle-scheduler safety bit as a Volt stock friction-brake
+      # marker on non-pedal paths. Both auto hold and one-pedal can run while
+      # OP longitudinal is configured but not currently active, so the bit must
+      # be present regardless of the current long-control mode.
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
 
+    volt_stock_one_pedal_safety = (
+      volt_one_pedal_mode and
+      candidate in {
+        CAR.CHEVROLET_VOLT,
+        CAR.CHEVROLET_VOLT_2019,
+        CAR.CHEVROLET_VOLT_ASCM,
+        CAR.CHEVROLET_VOLT_CAMERA,
+      }
+    )
+    if volt_stock_one_pedal_safety:
+      # Reuse the 3D1 scheduler bit as a Volt one-pedal marker on non-pedal
+      # ACC paths. The bit is ignored by the actual 3D1 scheduler unless the
+      # car is on a pedal-long CC-only path, so this stays isolated from Bolt.
+      ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_PANDA_3D1_SCHED.value
+
     use_panda_3d1_sched = (
       ret.openpilotLongitudinalControl and
       ret.enableGasInterceptorDEPRECATED and

opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py

@@ -0,0 +1,923 @@
+import sys
+import types
+from types import SimpleNamespace
+import numpy as np
+import pytest
+
+from opendbc.car import structs
+
+fake_interfaces = types.ModuleType("opendbc.car.interfaces")
+
+
+class _FakeCarControllerBase:
+  def __init__(self, dbc_names=None, CP=None):
+    self.CP = CP
+
+
+fake_interfaces.CarControllerBase = _FakeCarControllerBase
+sys.modules.setdefault("opendbc.car.interfaces", fake_interfaces)
+
+fake_params = types.ModuleType("openpilot.common.params")
+
+
+class _FakeParams:
+  pass
+
+
+class _FakeUnknownKeyName(Exception):
+  pass
+
+
+fake_params.Params = _FakeParams
+fake_params.UnknownKeyName = _FakeUnknownKeyName
+sys.modules.setdefault("openpilot.common.params", fake_params)
+
+fake_testing_grounds = types.ModuleType("openpilot.starpilot.common.testing_grounds")
+fake_testing_grounds.testing_ground = SimpleNamespace(use_1=False)
+sys.modules.setdefault("openpilot.starpilot.common.testing_grounds", fake_testing_grounds)
+
+from opendbc.car.gm.carcontroller import (
+  AUTO_HOLD_DRIVE_GEARS,
+  CarController,
+  estimate_auto_hold_brake,
+  get_adas_keepalive_step,
+  get_auto_hold_stop_threshold,
+  get_bolt_acc_pedal_friction_brake,
+  get_bolt_acc_pedal_friction_command_state,
+  get_bolt_acc_pedal_effective_brake_switch,
+  get_bolt_acc_pedal_planner_brake_switch,
+  get_bolt_pedal_long_accel_limit,
+  get_interceptor_sng_gas_cmd,
+  get_lka_steering_cmd_counter,
+  get_volt_one_pedal_target_decel,
+  get_testing_ground_1_brake_switch_bias,
+  get_acc_dashboard_status_active,
+  get_stock_cc_active_for_cancel,
+  shape_bolt_acc_pedal_low_speed_friction,
+  shape_truck_positive_accel,
+  should_use_fixed_stopping_brake,
+  should_activate_auto_hold,
+  should_activate_volt_one_pedal,
+  should_send_adas_status,
+  should_send_stock_long_cancel,
+  should_spoof_dash_speed,
+  should_spoof_ecm_cruise_status,
+  supports_bolt_acc_pedal_friction_experiment,
+  supports_volt_auto_hold,
+  supports_volt_one_pedal,
+  use_interceptor_sng_launch,
+)
+from opendbc.car.gm.gmcan import get_friction_brake_mode
+from opendbc.car.gm.values import AccState, CAR, CarControllerParams, GMFlags
+from opendbc.car.structs import CarParams
+from opendbc.car.common.conversions import Conversions as CV
+
+
+def _cs(enabled, pcm_acc_status):
+  return SimpleNamespace(
+    out=SimpleNamespace(cruiseState=SimpleNamespace(enabled=enabled), accFaulted=False),
+    pcm_acc_status=pcm_acc_status,
+  )
+
+
+def _sng_cs(v_ego, standstill, cruise_standstill):
+  return SimpleNamespace(
+    out=SimpleNamespace(
+      vEgo=v_ego,
+      standstill=standstill,
+      cruiseState=SimpleNamespace(standstill=cruise_standstill),
+    ),
+  )
+
+
+def _controller(car_fingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021):
+  controller = CarController.__new__(CarController)
+  controller.CP = SimpleNamespace(carFingerprint=car_fingerprint)
+  controller.planner_regen_hold = False
+  controller.regen_paddle_pressed = False
+  controller.regen_paddle_timer = 0
+  controller.regen_press_counter = 0
+  controller.regen_release_counter = 0
+  controller.regen_min_on_frames = 0
+  controller.regen_min_off_frames = 0
+  controller.pedal_active_last = False
+  controller.pedal_steady = 0.0
+  controller.aego = 0.0
+  controller.maneuver_paddle_mode = "auto"
+  controller.bolt_acc_pedal_friction_low_speed_active = False
+  return controller
+
+
+def test_gen1_bolt_pedal_cancel_uses_pcm_acc_status():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021)
+
+  assert get_stock_cc_active_for_cancel(CP, _cs(False, AccState.ACTIVE))
+
+
+def test_gen2_bolt_acc_pedal_cancel_uses_enabled_only():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL)
+
+  assert not get_stock_cc_active_for_cancel(CP, _cs(False, AccState.ACTIVE))
+
+
+def test_bolt_acc_pedal_friction_experiment_is_single_fingerprint_only():
+  assert supports_bolt_acc_pedal_friction_experiment(SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    openpilotLongitudinalControl=True,
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+  ))
+  assert not supports_bolt_acc_pedal_friction_experiment(SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    openpilotLongitudinalControl=True,
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+  ))
+  assert not supports_bolt_acc_pedal_friction_experiment(SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    openpilotLongitudinalControl=False,
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+  ))
+
+
+def test_bolt_acc_pedal_friction_blend_preserves_zero_before_crossover():
+  params = SimpleNamespace(ACCEL_MIN=-4.0, MAX_BRAKE=400)
+
+  assert get_bolt_acc_pedal_friction_brake(0, -2.8, 20.0, params) == 0
+
+
+def test_bolt_acc_pedal_friction_blend_uses_full_brake_range_after_regen():
+  params = SimpleNamespace(ACCEL_MIN=-4.0, MAX_BRAKE=400)
+
+  # Legacy mapping tops out early once regen has already consumed part of the
+  # decel request. The experiment remaps that reduced span back to full scale.
+  assert get_bolt_acc_pedal_friction_brake(286, -2.86, 20.0, params) == 400
+
+
+def test_bolt_acc_pedal_friction_blend_biases_small_commands_upward_at_speed():
+  params = SimpleNamespace(ACCEL_MIN=-4.0, MAX_BRAKE=400)
+
+  low_speed = get_bolt_acc_pedal_friction_brake(31, -2.86, 0.0, params)
+  high_speed = get_bolt_acc_pedal_friction_brake(31, -2.86, 20.0, params)
+
+  assert low_speed > 31
+  assert high_speed > low_speed
+
+
+def test_bolt_acc_pedal_friction_blend_applies_a_minimum_pre_stop_command_at_speed():
+  params = SimpleNamespace(ACCEL_MIN=-4.0, MAX_BRAKE=400)
+
+  assert get_bolt_acc_pedal_friction_brake(2, -2.86, 17.0, params) >= 18
+
+
+def test_bolt_acc_pedal_friction_blend_boosts_midrange_commands_before_stopping_phase():
+  params = SimpleNamespace(ACCEL_MIN=-4.0, MAX_BRAKE=400)
+
+  assert get_bolt_acc_pedal_friction_brake(40, -2.86, 15.0, params) >= 80
+
+
+def test_bolt_acc_pedal_low_speed_friction_ignores_tiny_inactive_brake_requests():
+  apply_brake, active = shape_bolt_acc_pedal_low_speed_friction(9, 5.0, False, False)
+
+  assert apply_brake == 0
+  assert not active
+
+
+def test_bolt_acc_pedal_low_speed_friction_uses_hysteresis_once_active():
+  apply_brake, active = shape_bolt_acc_pedal_low_speed_friction(24, 3.0, False, False)
+  assert apply_brake == 24
+  assert active
+
+  apply_brake, active = shape_bolt_acc_pedal_low_speed_friction(5, 3.0, False, active)
+  assert apply_brake == 0
+  assert not active
+
+
+def test_bolt_acc_pedal_low_speed_friction_fades_out_at_standstill():
+  apply_brake, active = shape_bolt_acc_pedal_low_speed_friction(80, 0.2, True, True)
+
+  assert apply_brake == 0
+  assert not active
+
+
+def test_bolt_acc_pedal_low_speed_friction_preserves_rolling_stop_authority():
+  apply_brake, active = shape_bolt_acc_pedal_low_speed_friction(80, 1.2, True, True)
+
+  assert 0 < apply_brake < 80
+  assert active
+
+
+def test_bolt_acc_pedal_low_speed_friction_drops_out_before_two_clamp():
+  apply_brake, active = shape_bolt_acc_pedal_low_speed_friction(80, 0.9, True, True)
+
+  assert apply_brake == 0
+  assert not active
+
+
+def test_bolt_pedal_long_accel_limit_matches_planner_regen_envelope():
+  assert get_bolt_pedal_long_accel_limit(6.66) == pytest.approx(-2.379, abs=1e-3)
+  assert get_bolt_pedal_long_accel_limit(3.0) == pytest.approx(-1.70, abs=1e-3)
+
+
+def test_bolt_acc_pedal_planner_brake_switch_is_lower_than_stock_switch():
+  params = SimpleNamespace(ZERO_GAS=6150, BRAKE_SWITCH_LOOKUP_BP=[0.5, 10.0], BRAKE_SWITCH_LOOKUP_V=[6150, 5500])
+  v_ego = 6.66
+
+  stock_switch = int(round(np.interp(v_ego, params.BRAKE_SWITCH_LOOKUP_BP, params.BRAKE_SWITCH_LOOKUP_V)))
+  planner_switch = get_bolt_acc_pedal_planner_brake_switch(
+    v_ego, params, tire_radius=0.336, mass=1832.0, coeff_drag=0.30, frontal_area=2.35, air_density=1.225,
+  )
+
+  assert planner_switch < stock_switch
+
+
+def test_bolt_acc_pedal_effective_brake_switch_never_suppresses_stock_friction():
+  params = SimpleNamespace(ZERO_GAS=6150, BRAKE_SWITCH_LOOKUP_BP=[0.5, 10.0], BRAKE_SWITCH_LOOKUP_V=[6150, 5500])
+  v_ego = 5.434
+  mass = 1805.0
+  tire_radius = 0.075 * 2.63779 + 0.1453
+  frontal_area = 1.05 * 2.63779 + 0.0679
+  coeff_drag = 0.30
+  air_density = 1.225
+  accel_cmd = -1.399
+
+  aero_drag_force = 0.5 * coeff_drag * frontal_area * air_density * v_ego ** 2
+  torque = tire_radius * ((mass * accel_cmd) + aero_drag_force)
+  scaled_torque = torque + params.ZERO_GAS
+
+  stock_switch = int(round(np.interp(v_ego, params.BRAKE_SWITCH_LOOKUP_BP, params.BRAKE_SWITCH_LOOKUP_V)))
+  planner_switch = get_bolt_acc_pedal_planner_brake_switch(
+    v_ego, params, tire_radius=tire_radius, mass=mass,
+    coeff_drag=coeff_drag, frontal_area=frontal_area, air_density=air_density,
+  )
+  effective_switch = get_bolt_acc_pedal_effective_brake_switch(stock_switch, planner_switch)
+
+  stock_brake_accel = min((scaled_torque - stock_switch) / (tire_radius * mass), 0)
+  effective_brake_accel = min((scaled_torque - effective_switch) / (tire_radius * mass), 0)
+
+  assert planner_switch < stock_switch
+  assert effective_switch == stock_switch
+  assert stock_brake_accel < 0
+  assert effective_brake_accel == stock_brake_accel
+
+
+def test_bolt_acc_pedal_friction_command_state_requires_cruise_main_for_positive_brake():
+  command_brake, release_frames, should_send = get_bolt_acc_pedal_friction_command_state(120, False, 0)
+
+  assert command_brake == 0
+  assert release_frames == 0
+  assert not should_send
+
+
+def test_bolt_acc_pedal_friction_command_state_sends_zero_unwind_after_main_off():
+  command_brake, release_frames, should_send = get_bolt_acc_pedal_friction_command_state(120, True, 0)
+
+  assert command_brake == 120
+  assert release_frames > 0
+  assert should_send
+
+  command_brake, release_frames, should_send = get_bolt_acc_pedal_friction_command_state(0, False, release_frames)
+
+  assert command_brake == 0
+  assert release_frames >= 0
+  assert should_send
+
+
+def test_fixed_stopping_brake_is_disabled_for_bolt_acc_pedal_experiment():
+  CP = SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    openpilotLongitudinalControl=True,
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+  )
+
+  assert not should_use_fixed_stopping_brake(CP, True, True, False)
+
+
+def test_fixed_stopping_brake_stays_enabled_for_normal_acc_path():
+  CP = SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023,
+    openpilotLongitudinalControl=True,
+    enableGasInterceptorDEPRECATED=False,
+    flags=0,
+  )
+
+  assert should_use_fixed_stopping_brake(CP, True, True, False)
+  assert not should_use_fixed_stopping_brake(CP, False, True, False)
+  assert not should_use_fixed_stopping_brake(CP, True, False, False)
+  assert not should_use_fixed_stopping_brake(CP, True, True, True)
+
+
+def test_stock_cancel_is_suppressed_when_acc_is_faulted():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_CAMERA)
+  cs = _cs(True, AccState.FAULTED)
+  cs.out.accFaulted = True
+
+  assert get_stock_cc_active_for_cancel(CP, cs)
+  assert not should_send_stock_long_cancel(11, cs)
+
+
+def test_stock_cancel_requires_delay_and_no_acc_fault():
+  cs = _cs(True, AccState.ACTIVE)
+
+  assert not should_send_stock_long_cancel(10, cs)
+  assert should_send_stock_long_cancel(11, cs)
+
+
+def test_gen1_bolt_pedal_ecm_cruise_spoof_is_not_gated_by_dash_speed_toggle():
+  CP = SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021,
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+    openpilotLongitudinalControl=True,
+  )
+
+  assert not should_spoof_dash_speed(CP, SimpleNamespace(disable_openpilot_long=True, gm_pedal_longitudinal=True))
+  assert should_spoof_ecm_cruise_status(CP)
+
+
+def test_gateway_keepalive_uses_gateway_cadence():
+  cp = SimpleNamespace(networkLocation=CarParams.NetworkLocation.gateway, flags=0)
+
+  assert get_adas_keepalive_step(cp, is_kaofui_car=True) == 100
+  assert get_adas_keepalive_step(cp, is_kaofui_car=False) == 200
+
+
+def test_removed_camera_keepalive_uses_camera_cadence():
+  cp = SimpleNamespace(networkLocation=CarParams.NetworkLocation.fwdCamera, flags=GMFlags.NO_CAMERA.value)
+
+  assert get_adas_keepalive_step(cp, is_kaofui_car=True) == 100
+
+
+def test_live_camera_path_does_not_send_pt_keepalive():
+  cp = SimpleNamespace(networkLocation=CarParams.NetworkLocation.fwdCamera, flags=0)
+
+  assert get_adas_keepalive_step(cp, is_kaofui_car=True) is None
+
+
+def test_ascm_int_cars_do_not_send_radar_status():
+  common = {
+    "networkLocation": CarParams.NetworkLocation.fwdCamera,
+    "radarUnavailable": False,
+  }
+
+  assert not should_send_adas_status(SimpleNamespace(carFingerprint=CAR.BUICK_LACROSSE_ASCM, **common), is_kaofui_car=True)
+  assert not should_send_adas_status(SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM, **common), is_kaofui_car=True)
+
+
+def test_lacrosse_ascm_marks_acc_dashboard_active_for_aol_only():
+  cc = SimpleNamespace(enabled=False, latActive=True)
+
+  assert get_acc_dashboard_status_active(SimpleNamespace(carFingerprint=CAR.BUICK_LACROSSE_ASCM), cc)
+  assert not get_acc_dashboard_status_active(SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM), cc)
+  assert not get_acc_dashboard_status_active(SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023), cc)
+
+
+def test_acc_dashboard_status_active_for_normal_enabled_cars():
+  cc = SimpleNamespace(enabled=True, latActive=False)
+
+  assert get_acc_dashboard_status_active(SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM), cc)
+
+
+def test_volt_auto_hold_requires_toggle_supported_non_cc_only_volt_and_stock_safety():
+  stock_safety = [SimpleNamespace(safetyParam=0x8000)]
+  no_safety = [SimpleNamespace(safetyParam=0)]
+
+  assert not supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=no_safety,
+    ),
+    True,
+  )
+  assert not supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CC,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=no_safety,
+    ),
+    True,
+  )
+  assert supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=stock_safety,
+    ),
+    True,
+  )
+  assert supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT,
+      openpilotLongitudinalControl=False,
+      networkLocation=CarParams.NetworkLocation.gateway,
+      safetyConfigs=stock_safety,
+    ),
+    True,
+  )
+  assert supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_2019,
+      openpilotLongitudinalControl=False,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=stock_safety,
+    ),
+    True,
+  )
+  assert not supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_2019,
+      openpilotLongitudinalControl=False,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=no_safety,
+    ),
+    True,
+  )
+  assert not supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.fwdCamera,
+      safetyConfigs=no_safety,
+    ),
+    False,
+  )
+
+
+def test_auto_hold_brake_estimate_uses_driver_or_op_brake_and_clamps():
+  assert estimate_auto_hold_brake(0.0, 20.0) == 80
+  assert estimate_auto_hold_brake(20.0, 40.0) == 110
+  assert estimate_auto_hold_brake(20.0, 160.0) == 160
+  assert estimate_auto_hold_brake(100.0, 400.0) == 240
+  assert estimate_auto_hold_brake(7.0, 0.0, SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_2019)) == 100
+
+
+def test_volt_one_pedal_requires_toggle_supported_volt_stock_safety_and_ev_transmission():
+  stock_safety = [SimpleNamespace(safetyParam=0x8000)]
+  no_safety = [SimpleNamespace(safetyParam=0)]
+
+  assert supports_volt_one_pedal(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
+      safetyConfigs=stock_safety,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+    ),
+    True,
+  )
+  assert not supports_volt_one_pedal(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
+      safetyConfigs=no_safety,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+    ),
+    True,
+  )
+  assert not supports_volt_one_pedal(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CC,
+      safetyConfigs=stock_safety,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+    ),
+    True,
+  )
+  assert not supports_volt_one_pedal(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
+      safetyConfigs=stock_safety,
+      transmissionType=structs.CarParams.TransmissionType.automatic,
+    ),
+    True,
+  )
+  assert not supports_volt_one_pedal(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_CAMERA,
+      safetyConfigs=stock_safety,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+    ),
+    False,
+  )
+
+
+def test_auto_hold_drive_gears_accept_capnp_dynamic_enum_membership():
+  msg = structs.CarState.new_message()
+  msg.gearShifter = structs.CarState.GearShifter.drive
+
+  assert msg.gearShifter in AUTO_HOLD_DRIVE_GEARS
+
+
+def test_auto_hold_activation_allows_direct_entry_from_stopped_brake_press():
+  assert should_activate_auto_hold(
+    True,
+    False,
+    False,
+    True,
+    False,
+    True,
+    False,
+    False,
+    0.01,
+  )
+
+
+def test_auto_hold_activation_stays_latched_after_brake_release():
+  assert should_activate_auto_hold(
+    True,
+    False,
+    True,
+    False,
+    False,
+    True,
+    False,
+    False,
+    0.0,
+  )
+
+
+def test_volt_2019_auto_hold_engaged_uses_near_stop_creep_hysteresis():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_2019)
+
+  assert get_auto_hold_stop_threshold(CP, True) == CarControllerParams.NEAR_STOP_BRAKE_PHASE
+  assert should_activate_auto_hold(
+    True,
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    False,
+    0.05,
+    get_auto_hold_stop_threshold(CP, True),
+  )
+  assert not should_activate_auto_hold(
+    True,
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    False,
+    0.05,
+  )
+
+
+def test_auto_hold_activation_blocks_when_long_is_active_or_motion_is_above_threshold():
+  assert not should_activate_auto_hold(
+    True,
+    True,
+    False,
+    True,
+    False,
+    True,
+    True,
+    False,
+    0.0,
+  )
+  assert not should_activate_auto_hold(
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    False,
+    False,
+    0.03,
+  )
+
+
+def test_auto_hold_activation_allows_standstill_even_if_speed_filter_is_slightly_above_threshold():
+  assert should_activate_auto_hold(
+    True,
+    True,
+    False,
+    False,
+    False,
+    True,
+    False,
+    False,
+    0.05,
+  )
+
+
+def test_auto_hold_activation_releases_immediately_on_gas_press():
+  assert not should_activate_auto_hold(
+    True,
+    True,
+    True,
+    False,
+    True,
+    True,
+    False,
+    False,
+    0.0,
+  )
+
+
+def test_volt_one_pedal_activation_requires_main_l_mode_and_no_driver_input():
+  assert should_activate_volt_one_pedal(
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    True,
+    structs.CarState.GearShifter.low,
+    3.0,
+  )
+  assert not should_activate_volt_one_pedal(
+    True,
+    False,
+    False,
+    False,
+    False,
+    False,
+    True,
+    structs.CarState.GearShifter.low,
+    3.0,
+  )
+  assert not should_activate_volt_one_pedal(
+    True,
+    True,
+    True,
+    False,
+    False,
+    False,
+    True,
+    structs.CarState.GearShifter.low,
+    3.0,
+  )
+  assert not should_activate_volt_one_pedal(
+    True,
+    True,
+    False,
+    True,
+    False,
+    False,
+    True,
+    structs.CarState.GearShifter.low,
+    3.0,
+  )
+  assert not should_activate_volt_one_pedal(
+    True,
+    True,
+    False,
+    False,
+    False,
+    True,
+    True,
+    structs.CarState.GearShifter.low,
+    3.0,
+  )
+  assert not should_activate_volt_one_pedal(
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    False,
+    structs.CarState.GearShifter.drive,
+    3.0,
+  )
+
+
+def test_volt_one_pedal_target_decel_stays_active_above_low_speed_band():
+  assert get_volt_one_pedal_target_decel(0.5 * CV.MPH_TO_MS) == -1.0
+  assert get_volt_one_pedal_target_decel(6.0 * CV.MPH_TO_MS) == -1.1
+  assert get_volt_one_pedal_target_decel(20.0 * CV.MPH_TO_MS) == -1.1
+
+
+def test_volt_one_pedal_regression_ignores_noisy_wheel_direction_bits():
+  assert should_activate_volt_one_pedal(
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    True,
+    structs.CarState.GearShifter.low,
+    3.0,
+  )
+
+
+def test_volt_one_pedal_requires_time_in_drive_before_arming():
+  assert not should_activate_volt_one_pedal(
+    True,
+    True,
+    False,
+    False,
+    False,
+    False,
+    True,
+    structs.CarState.GearShifter.low,
+    2.5,
+  )
+
+
+def test_friction_brake_mode_keeps_near_stop_disabled_for_regular_long_braking():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM)
+
+  assert get_friction_brake_mode(120, False, True, False, CP) == 0xa
+
+
+def test_friction_brake_mode_uses_near_stop_hold_mode_for_volt_auto_hold():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM)
+
+  assert get_friction_brake_mode(120, False, True, False, CP, allow_near_stop_mode=True) == 0xb
+  assert get_friction_brake_mode(120, False, True, True, CP, allow_near_stop_mode=True) == 0xd
+
+
+def test_friction_brake_mode_uses_stock_bolt_unwind_for_pedal_print_when_enabled():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL)
+
+  assert get_friction_brake_mode(0, False, True, False, CP) == 0x1
+  assert get_friction_brake_mode(0, True, True, False, CP) == 0x9
+
+
+def test_friction_brake_mode_keeps_bolt_pedal_braking_mode_unchanged():
+  CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL)
+
+  assert get_friction_brake_mode(120, True, False, False, CP) == 0xa
+  assert get_friction_brake_mode(120, True, True, True, CP) == 0xd
+
+
+def test_calc_pedal_command_small_accel_deadband_keeps_creep_target_stable():
+  pos_controller = _controller()
+  neg_controller = _controller()
+
+  pos_pedal, pos_regen = pos_controller.calc_pedal_command(0.02, True, 0.3)
+  neg_pedal, neg_regen = neg_controller.calc_pedal_command(-0.02, True, 0.3)
+
+  assert not pos_regen
+  assert not neg_regen
+  assert pos_pedal == neg_pedal
+
+
+def test_calc_pedal_command_creep_switch_does_not_snap_to_target():
+  controller = _controller()
+  controller.pedal_active_last = True
+  controller.pedal_steady = 0.18
+  controller.regen_press_counter = 20
+
+  pedal_gas, press_regen = controller.calc_pedal_command(-1.0, True, 0.5)
+
+  assert press_regen
+  assert pedal_gas > 0.15
+
+
+def test_calc_pedal_command_softens_small_positive_follow_ramp_at_road_speed():
+  controller = _controller()
+  controller.pedal_active_last = True
+  controller.pedal_steady = 0.18
+
+  pedal_gas, press_regen = controller.calc_pedal_command(0.2, True, 18.0)
+
+  assert not press_regen
+  assert pedal_gas - 0.18 < 0.026
+
+
+def test_calc_pedal_command_keeps_strong_positive_requests_responsive():
+  controller = _controller()
+  controller.pedal_active_last = True
+  controller.pedal_steady = 0.18
+
+  pedal_gas, press_regen = controller.calc_pedal_command(1.4, True, 18.0)
+
+  assert not press_regen
+  assert pedal_gas - 0.18 > 0.04
+
+
+def test_shape_truck_positive_accel_softens_small_highway_requests():
+  shaped = shape_truck_positive_accel(0.12, 26.0, True)
+
+  assert 0.09 < shaped < 0.10
+
+
+def test_shape_truck_positive_accel_keeps_mid_follow_requests_available():
+  shaped = shape_truck_positive_accel(0.45, 13.5, True)
+
+  assert 0.43 < shaped < 0.45
+
+
+def test_shape_truck_positive_accel_leaves_large_requests_alone():
+  assert shape_truck_positive_accel(1.0, 26.0, True) == 1.0
+
+
+def test_shape_truck_positive_accel_is_inactive_when_disabled_or_low_speed():
+  assert shape_truck_positive_accel(0.12, 26.0, False) == 0.12
+  assert shape_truck_positive_accel(0.12, 6.0, True) == 0.12
+
+
+def test_use_interceptor_sng_launch_requires_actual_near_stop():
+  CP = SimpleNamespace(vEgoStarting=0.25)
+
+  assert use_interceptor_sng_launch(CP, _sng_cs(0.0, True, True))
+  assert use_interceptor_sng_launch(CP, _sng_cs(0.2, False, True))
+  assert not use_interceptor_sng_launch(CP, _sng_cs(1.2, False, True))
+  assert not use_interceptor_sng_launch(CP, _sng_cs(0.0, True, False))
+
+
+def test_bolt_acc_pedal_sng_launch_uses_physical_standstill_without_stock_acc_bit():
+  CP = SimpleNamespace(
+    vEgoStarting=0.25,
+    carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    enableGasInterceptorDEPRECATED=True,
+  )
+
+  assert use_interceptor_sng_launch(CP, _sng_cs(0.0, True, False))
+  assert use_interceptor_sng_launch(CP, _sng_cs(0.2, False, False))
+  assert not use_interceptor_sng_launch(CP, _sng_cs(1.2, False, False))
+
+
+def test_bolt_acc_pedal_sng_launch_preserves_stronger_computed_pedal():
+  CP = SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    openpilotLongitudinalControl=True,
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+  )
+  params = SimpleNamespace(SNG_INTERCEPTOR_GAS=18. / 255.)
+
+  assert get_interceptor_sng_gas_cmd(CP, 0.2, 0.54, params, False) == pytest.approx(0.2)
+
+
+def test_other_pedal_sng_launch_keeps_fixed_floor_behavior():
+  CP = SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021,
+    openpilotLongitudinalControl=True,
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+  )
+  params = SimpleNamespace(SNG_INTERCEPTOR_GAS=18. / 255.)
+
+  assert get_interceptor_sng_gas_cmd(CP, 0.2, 0.54, params, False) == pytest.approx(18. / 255.)
+
+
+def test_use_interceptor_sng_launch_extends_for_maneuver_mode():
+  CP = SimpleNamespace(vEgoStarting=0.25)
+
+  assert use_interceptor_sng_launch(CP, _sng_cs(1.2, False, True), maneuver_mode=True)
+  assert not use_interceptor_sng_launch(CP, _sng_cs(2.2, False, True), maneuver_mode=True)
+
+
+def test_testing_ground_1_brake_switch_bias_is_softened_but_still_speed_scaled():
+  assert get_testing_ground_1_brake_switch_bias(0.0) == 40
+  assert get_testing_ground_1_brake_switch_bias(6.0) == 85
+  assert get_testing_ground_1_brake_switch_bias(15.0) == 130
+  assert get_testing_ground_1_brake_switch_bias(30.0) == 170
+
+
+def test_lka_counter_uses_returned_loopback_counter():
+  cs = SimpleNamespace(
+    loopback_lka_steering_cmd_updated=True,
+    loopback_lka_steering_cmd_counter=2,
+    loopback_lka_steering_cmd_ts_nanos=1,
+    pt_lka_steering_cmd_counter=0,
+  )
+
+  assert get_lka_steering_cmd_counter(0, cs) == 3
+
+
+def test_lka_counter_keeps_advancing_without_loopback_updates():
+  cs = SimpleNamespace(
+    loopback_lka_steering_cmd_updated=False,
+    loopback_lka_steering_cmd_counter=0,
+    loopback_lka_steering_cmd_ts_nanos=1,
+    pt_lka_steering_cmd_counter=0,
+  )
+
+  next_counter = 1
+  sent = []
+  for _ in range(6):
+    idx = get_lka_steering_cmd_counter(next_counter, cs)
+    sent.append(idx)
+    next_counter = (idx + 1) % 4
+
+  assert sent == [1, 2, 3, 0, 1, 2]
+
+
+def test_lka_counter_only_seeds_from_pt_counter_once_without_loopback():
+  cs = SimpleNamespace(
+    loopback_lka_steering_cmd_updated=False,
+    loopback_lka_steering_cmd_counter=0,
+    loopback_lka_steering_cmd_ts_nanos=0,
+    pt_lka_steering_cmd_counter=0,
+  )
+
+  next_counter = -1
+  sent = []
+  for _ in range(6):
+    idx = get_lka_steering_cmd_counter(next_counter, cs)
+    sent.append(idx)
+    next_counter = (idx + 1) % 4
+
+  assert sent == [1, 2, 3, 0, 1, 2]

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -1,16 +1,18 @@
 import pytest
+import numpy as np
 from types import SimpleNamespace
 from parameterized import parameterized
 
+from cereal import custom
 from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
-from opendbc.car.gm.carstate import CarState as GMCarState
+from opendbc.car.gm.carstate import CarState as GMCarState, get_hard_cruise_buttons, update_auto_hold_drive_timers
 from opendbc.car.gm.carcontroller import (
   VisualAlert,
   get_acc_dashboard_fcw_alert,
-  get_acc_dashboard_status_values,
+  get_volt_one_pedal_lift_brake,
   should_send_acc_dashboard_status,
   should_send_cc_button_spam,
   should_spoof_dash_speed,
@@ -18,7 +20,7 @@ from opendbc.car.gm.carcontroller import (
 import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.fingerprints import FINGERPRINTS
-from opendbc.car.gm.values import CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, GMFlags, GMSafetyFlags
+from opendbc.car.gm.values import ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 
@@ -63,6 +65,52 @@ class TestGMFingerprint:
 
 
 class TestGMInterface:
+  def test_bolt_acc_pedal_pid_accel_limits_keep_full_negative_authority(self):
+    cp = SimpleNamespace(
+      enableGasInterceptorDEPRECATED=True,
+      flags=GMFlags.PEDAL_LONG.value,
+      carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    )
+
+    accel_min, accel_max = gm_interface.CarInterface.get_pid_accel_limits(cp, 4.73, 0.0)
+
+    assert accel_min == pytest.approx(CarControllerParams.ACCEL_MIN)
+    assert accel_max == pytest.approx(np.interp(4.73, [0.0, 1.5, 4.0, 8.0, 15.0],
+                                                [0.54, 0.74, 1.03, 1.46, CarControllerParams.ACCEL_MAX]))
+
+  def test_bolt_cc_pedal_pid_accel_limits_remain_regen_limited(self):
+    cp = SimpleNamespace(
+      enableGasInterceptorDEPRECATED=True,
+      flags=GMFlags.PEDAL_LONG.value,
+      carFingerprint=CAR.CHEVROLET_BOLT_CC_2022_2023,
+    )
+
+    accel_min, _ = gm_interface.CarInterface.get_pid_accel_limits(cp, 4.73, 0.0)
+
+    assert accel_min == pytest.approx(np.interp(4.73, [0.0, 1.5, 4.0, 8.0, 15.0, 30.0],
+                                                [-0.93, -1.28, -1.98, -2.58, -2.86, -2.95]))
+
+  def test_missing_hard_cruise_signal_defaults_to_init(self):
+    assert get_hard_cruise_buttons({"ACCButtons": CruiseButtons.RES_ACCEL}) == CruiseButtons.INIT
+    assert get_hard_cruise_buttons({"ACCButtonsHard": CruiseButtons.DECEL_SET}) == CruiseButtons.DECEL_SET
+
+  def test_volt_auto_hold_drive_timer_requires_motion_before_startup_arming(self):
+    auto_hold_time, one_pedal_time = update_auto_hold_drive_timers(True, False, 0.0, 0.0)
+
+    assert auto_hold_time == 0.0
+    assert one_pedal_time == 0.0
+
+  def test_volt_auto_hold_drive_timer_accumulates_only_while_moving(self):
+    auto_hold_time, one_pedal_time = update_auto_hold_drive_timers(True, True, 0.0, 0.0)
+
+    assert auto_hold_time == pytest.approx(DT_CTRL)
+    assert one_pedal_time == pytest.approx(DT_CTRL)
+
+    auto_hold_time, one_pedal_time = update_auto_hold_drive_timers(True, False, auto_hold_time, one_pedal_time)
+
+    assert auto_hold_time == pytest.approx(DT_CTRL)
+    assert one_pedal_time == pytest.approx(DT_CTRL)
+
   @parameterized.expand(VOLT_CARS)
   def test_volt_min_steer_speed_is_7_mph(self, car_model):
     CarInterface = interfaces[car_model]
@@ -84,12 +132,15 @@ class TestGMInterface:
 
     old_testing_ground = gm_interface.testing_ground
     gm_interface.testing_ground = SimpleNamespace(use_2=True)
+    params = Params()
+    params.put_bool("GMPedalLongitudinal", True)
 
     try:
       car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=False, is_release=False, docs=False,
                                            starpilot_toggles=_test_starpilot_toggles())
     finally:
       gm_interface.testing_ground = old_testing_ground
+      params.remove("GMPedalLongitudinal")
 
     if pedal_present:
       assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.10, 0.072, 0.05, 0.04])
@@ -117,6 +168,42 @@ class TestGMInterface:
     assert car_params.flags & GMFlags.NO_CAMERA.value
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
 
+  def test_silverado_alpha_long_uses_trimmed_longitudinal_tune(self):
+    CarInterface = interfaces[CAR.CHEVROLET_SILVERADO]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SILVERADO][0].copy()
+
+    car_params = CarInterface.get_params(CAR.CHEVROLET_SILVERADO, fingerprint, [], alpha_long=True, is_release=False,
+                                         docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.openpilotLongitudinalControl
+    assert not car_params.enableGasInterceptorDEPRECATED
+    assert list(car_params.longitudinalTuning.kpBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
+    assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.02, 0.03, 0.028, 0.022])
+    assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
+    assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.28, 0.26, 0.20, 0.16])
+
+  def test_blazer_uses_softer_low_speed_stop_hold_tune(self):
+    CarInterface = interfaces[CAR.CHEVROLET_BLAZER]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_BLAZER][0].copy()
+    fingerprint[0][0x2FF] = 8  # SASCM present so alpha-long can enable on this platform
+
+    car_params = CarInterface.get_params(CAR.CHEVROLET_BLAZER, fingerprint, [], alpha_long=True, is_release=False,
+                                         docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.openpilotLongitudinalControl
+    assert list(car_params.longitudinalTuning.kpBP) == pytest.approx([0.0, 4.0, 12.0, 35.0])
+    assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.09, 0.075, 0.055, 0.04])
+    assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 4.0, 12.0, 35.0])
+    assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.03, 0.04, 0.055, 0.07])
+    assert car_params.longitudinalActuatorDelay == pytest.approx(0.7)
+    assert car_params.minEnableSpeed == pytest.approx(5 * CV.KPH_TO_MS)
+    assert car_params.stoppingDecelRate == pytest.approx(1.0)
+    assert car_params.vEgoStopping == pytest.approx(0.35)
+    assert car_params.vEgoStarting == pytest.approx(0.35)
+    assert car_params.stopAccel == pytest.approx(-0.30)
+
   def test_volt_gateway_without_accel_pos_uses_brake_pedal_message(self):
     CarInterface = interfaces[CAR.CHEVROLET_VOLT]
     fingerprint = _empty_fingerprint()
@@ -132,6 +219,41 @@ class TestGMInterface:
     assert "ECMAcceleratorPos" not in pt_parser.vl
     assert "EBCMBrakePedalPosition" in pt_parser.vl
 
+  def test_volt_auto_hold_sets_stock_hold_safety_bit_with_op_long_enabled(self):
+    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0x2FF] = 8
+
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", True)
+      car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=True, is_release=False,
+                                           docs=False, starpilot_toggles=_test_starpilot_toggles())
+    finally:
+      params.remove("GMAutoHold")
+
+    assert car_params.openpilotLongitudinalControl
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
+
+  def test_volt_one_pedal_sets_stock_hold_safety_bit_without_auto_hold(self):
+    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0x2FF] = 8
+
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", False)
+      params.put_bool("VoltOnePedalMode", True)
+      car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=True, is_release=False,
+                                           docs=False, starpilot_toggles=_test_starpilot_toggles())
+    finally:
+      params.remove("GMAutoHold")
+      params.remove("VoltOnePedalMode")
+
+    assert car_params.openpilotLongitudinalControl
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_3D1_SCHED.value
+
   @parameterized.expand(VOLT_CARS)
   def test_volt_bsm_is_enabled_without_fingerprint_match(self, car_model):
     CarInterface = interfaces[car_model]
@@ -178,14 +300,17 @@ class TestGMInterface:
     params = Params()
     toggles = _test_starpilot_toggles()
     try:
+      params.put_bool("GMPedalLongitudinal", True)
       params.put_bool("RemapCancelToDistance", True)
       car_params = CarInterface.get_params(CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, fingerprint, [], alpha_long=False,
                                            is_release=False, docs=False, starpilot_toggles=toggles)
     finally:
+      params.remove("GMPedalLongitudinal")
       params.remove("RemapCancelToDistance")
 
     assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL.value
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
 
   def test_cadillac_xt5_sdgm_sascm_gates_alpha_long(self):
     CarInterface = interfaces[CAR.CADILLAC_XT5]
@@ -211,6 +336,49 @@ class TestGMInterface:
     assert not sascm_params.pcmCruise
     assert sascm_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM_LONG.value
 
+  def test_cadillac_escalade_esv_2019_ascm_uses_sascm_and_2019_tune(self):
+    base_fingerprint = FINGERPRINTS[CAR.CADILLAC_ESCALADE_ESV_2019][0]
+    ascm_fingerprint = FINGERPRINTS[CAR.CADILLAC_ESCALADE_ESV_2019_ASCM][0]
+
+    assert CAR.CADILLAC_ESCALADE_ESV_2019_ASCM in ASCM_INT
+    assert ascm_fingerprint[0x2FF] == 8
+    assert {addr: length for addr, length in ascm_fingerprint.items() if addr != 0x2FF} == base_fingerprint
+
+    CarInterface = interfaces[CAR.CADILLAC_ESCALADE_ESV_2019_ASCM]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = ascm_fingerprint.copy()
+
+    car_params = CarInterface.get_params(CAR.CADILLAC_ESCALADE_ESV_2019_ASCM, fingerprint, [], alpha_long=True, is_release=False,
+                                         docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.flags & GMFlags.SASCM.value
+    assert car_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert car_params.openpilotLongitudinalControl
+    assert not car_params.pcmCruise
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_ASCM_INT.value
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM_LONG.value
+    assert car_params.lateralTuning.torque.latAccelFactor == pytest.approx(1.15)
+    assert car_params.lateralTuning.torque.friction == pytest.approx(0.2)
+
+  def test_cadillac_xt4_uses_nonlinear_torque_curve_with_center_boost(self):
+    CarInterface = interfaces[CAR.CADILLAC_XT4]
+    car_params = CarInterface.get_non_essential_params(CAR.CADILLAC_XT4)
+    ci = CarInterface(car_params, custom.StarPilotCarParams.new_message())
+    torque_from_lataccel = ci.torque_from_lateral_accel()
+
+    low_lataccel = 0.2
+    high_lataccel = 1.0
+    low_torque = torque_from_lataccel(low_lataccel, car_params.lateralTuning.torque)
+    high_torque = torque_from_lataccel(high_lataccel, car_params.lateralTuning.torque)
+
+    linear_low_torque = low_lataccel / car_params.lateralTuning.torque.latAccelFactor
+    linear_high_torque = high_lataccel / car_params.lateralTuning.torque.latAccelFactor
+
+    assert low_torque > linear_low_torque * 1.15
+    assert low_torque < linear_low_torque * 1.30
+    assert high_torque == pytest.approx(linear_high_torque, rel=0.03)
+    assert torque_from_lataccel(-low_lataccel, car_params.lateralTuning.torque) == pytest.approx(-low_torque, rel=1e-6)
+
 
 class TestGMCarController:
   def test_dash_speed_spoof_respects_live_stock_acc_toggles(self):
@@ -225,6 +393,11 @@ class TestGMCarController:
 
     assert should_spoof_dash_speed(cp, SimpleNamespace(disable_openpilot_long=False))
 
+  def test_volt_one_pedal_lift_brake_seeds_low_speed_braking(self):
+    assert get_volt_one_pedal_lift_brake(2.1 * CV.MPH_TO_MS) == 0
+    assert get_volt_one_pedal_lift_brake(2.0 * CV.MPH_TO_MS) == 20
+    assert get_volt_one_pedal_lift_brake(0.10) == 80
+
   def test_volt_camera_no_camera_sends_acc_dashboard_without_dash_spoof(self):
     cp = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_CAMERA, flags=GMFlags.NO_CAMERA.value)
 
@@ -323,14 +496,9 @@ class TestGMCarController:
     msg = gmcan.create_acc_dashboard_command(
       packer,
       0,
-      {
-        "ACCCruiseState": 0,
-        "ACCLeadCar": 1,
-        "ACCResumeButton": 0,
-        "ACCSpeedSetpoint": 100,
-        "ACCGapLevel": 3,
-        "ACCCmdActive": 1,
-      },
+      True,
+      100,
+      SimpleNamespace(leadDistanceBars=3, leadVisible=True),
       0x2,
     )
 
@@ -338,23 +506,26 @@ class TestGMCarController:
 
     assert parser.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] == 2
 
-  def test_acc_dashboard_command_can_replay_stock_status_payload(self):
+  def test_acc_dashboard_command_uses_openpilot_hud_when_disengaged(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_ASCM][Bus.pt])
+    parser = CANParser(DBC[CAR.CHEVROLET_VOLT_ASCM][Bus.pt], [("ASCMActiveCruiseControlStatus", 0)], 0)
     msg = gmcan.create_acc_dashboard_command(
       packer,
       0,
-      {
-        "ACCCruiseState": 0,
-        "ACCLeadCar": 1,
-        "ACCResumeButton": 0,
-        "ACCSpeedSetpoint": 50,
-        "ACCGapLevel": 2,
-        "ACCCmdActive": 0,
-      },
+      False,
+      50,
+      SimpleNamespace(leadDistanceBars=2, leadVisible=True),
       0x3,
     )
 
-    assert msg[1].hex() == "010023200113"
+    parser.update([0, [msg]])
+    values = parser.vl["ASCMActiveCruiseControlStatus"]
+
+    assert values["ACCSpeedSetpoint"] == 50
+    assert values["ACCGapLevel"] == 0
+    assert values["ACCCmdActive"] == 0
+    assert values["ACCLeadCar"] == 1
+    assert values["FCWAlert"] == 3
 
   def test_acc_dashboard_fcw_alert_prefers_openpilot_alert(self):
     cs = SimpleNamespace(
@@ -387,45 +558,3 @@ class TestGMCarController:
     )
 
     assert get_acc_dashboard_fcw_alert(VisualAlert.none, cs) == 0x3
-
-  def test_acc_dashboard_status_values_use_openpilot_hud_when_enabled(self):
-    cs = SimpleNamespace(
-      stock_acc_cruise_state=5,
-      stock_acc_lead_car=0,
-      stock_acc_resume_button=1,
-      stock_acc_speed_setpoint_kph=42.0,
-      stock_acc_gap_level=1,
-      stock_acc_cmd_active=0,
-    )
-
-    values = get_acc_dashboard_status_values(True, 105.0, SimpleNamespace(leadDistanceBars=3, leadVisible=True), cs)
-
-    assert values == {
-      "ACCCruiseState": 0,
-      "ACCLeadCar": 1,
-      "ACCResumeButton": 0,
-      "ACCSpeedSetpoint": 105.0,
-      "ACCGapLevel": 3,
-      "ACCCmdActive": 1,
-    }
-
-  def test_acc_dashboard_status_values_reuse_stock_camera_status_when_disabled(self):
-    cs = SimpleNamespace(
-      stock_acc_cruise_state=0,
-      stock_acc_lead_car=1,
-      stock_acc_resume_button=0,
-      stock_acc_speed_setpoint_kph=50.0,
-      stock_acc_gap_level=2,
-      stock_acc_cmd_active=0,
-    )
-
-    values = get_acc_dashboard_status_values(False, 0.0, SimpleNamespace(leadDistanceBars=0, leadVisible=False), cs)
-
-    assert values == {
-      "ACCCruiseState": 0,
-      "ACCLeadCar": 1,
-      "ACCResumeButton": 0,
-      "ACCSpeedSetpoint": 50.0,
-      "ACCGapLevel": 2,
-      "ACCCmdActive": 0,
-    }

opendbc_repo/opendbc/car/gm/tests/test_gmcan.py

@@ -0,0 +1,79 @@
+from types import SimpleNamespace
+
+from opendbc.can import CANPacker
+from opendbc.car.gm import gmcan
+from opendbc.car.gm.values import CAR, DBC
+
+
+class TestGMCan:
+  def setup_method(self):
+    self.packer = CANPacker(DBC[CAR.CHEVROLET_BOLT_ACC_2022_2023]["pt"])
+
+  def test_gas_regen_command_matches_starpilot_bolt_acc(self):
+    addr, dat, bus = gmcan.create_gas_regen_command(self.packer, 0, 5000, 1, True, False)
+
+    assert addr == 0x2CB
+    assert bus == 0
+    assert dat.hex() == "41429c4000bd63bf"
+
+  def test_gas_regen_command_preserves_always_one3_layout(self):
+    _, dat, _ = gmcan.create_gas_regen_command(self.packer, 0, 0, 1, True, False, include_always_one3=True)
+
+    assert dat.hex() == "4142800000bd7fff"
+
+  def test_gas_regen_command_encodes_high_bit_above_8191(self):
+    _, dat, _ = gmcan.create_gas_regen_command(self.packer, 0, 8848, 1, True, False)
+    decoded = ((dat[1] & 0x1) << 13) | (dat[2] << 5) | ((dat[3] & 0xF8) >> 3)
+
+    assert dat[1] & 0x1
+    assert decoded == 8848
+
+  def test_prndl2_command_matches_bolt_gen2_regen_paddle_spoof(self):
+    CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL)
+
+    addr, dat, bus = gmcan.create_prndl2_command(self.packer, 0, False, CP)
+    assert addr == 0x1F5
+    assert bus == 0
+    assert dat.hex() == "0c0c000600000100"
+
+    addr, dat, bus = gmcan.create_prndl2_command(self.packer, 0, True, CP)
+    assert addr == 0x1F5
+    assert bus == 0
+    assert dat.hex() == "0c0c000500020100"
+
+  def test_prndl2_command_matches_bolt_gen1_regen_paddle_spoof(self):
+    CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021)
+
+    addr, dat, bus = gmcan.create_prndl2_command(self.packer, 0, True, CP)
+
+    assert addr == 0x1F5
+    assert bus == 0
+    assert dat.hex() == "0c0c000700020100"
+
+  def test_regen_paddle_command_matches_bolt_spoof(self):
+    addr, dat, bus = gmcan.create_regen_paddle_command(self.packer, 0, False)
+    assert addr == 0xBD
+    assert bus == 0
+    assert dat.hex() == "00000000000000"
+
+    addr, dat, bus = gmcan.create_regen_paddle_command(self.packer, 0, True)
+    assert addr == 0xBD
+    assert bus == 0
+    assert dat.hex() == "20000000000000"
+
+
+  def test_gas_regen_command_matches_starpilot_volt_2019(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_2019]["pt"])
+    addr, dat, bus = gmcan.create_gas_regen_command(packer, 0, 5000, 1, True, False, include_always_one3=True, use_volt_layout=True)
+
+    assert addr == 0x2CB
+    assert bus == 0
+    assert dat.hex() == "41429c4000bd63bf"
+
+  def test_gas_regen_command_matches_starpilot_volt_ascm(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_ASCM]["pt"])
+    addr, dat, bus = gmcan.create_gas_regen_command(packer, 0, 5000, 1, True, False, include_always_one3=True, use_volt_layout=True)
+
+    assert addr == 0x2CB
+    assert bus == 0
+    assert dat.hex() == "41429c4000bd63bf"

opendbc_repo/opendbc/car/gm/values.py

@@ -279,6 +279,10 @@ class CAR(Platforms):
     [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
     GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
   )
+  BUICK_LACROSSE_ASCM = GMPlatformConfig(
+    [GMCarDocs("Buick LaCrosse 2017-19 ASCM Harness")],
+    BUICK_LACROSSE.specs,
+  )
   BUICK_REGAL = GMASCMPlatformConfig(
     [GMCarDocs("Buick Regal Essence 2018")],
     GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
@@ -299,6 +303,10 @@ class CAR(Platforms):
     [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
     CADILLAC_ESCALADE_ESV.specs,
   )
+  CADILLAC_ESCALADE_ESV_2019_ASCM = GMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade ESV Platinum 2019 ASCM Harness", "Adaptive Cruise Control (ACC) & LKAS")],
+    CADILLAC_ESCALADE_ESV_2019.specs,
+  )
   CHEVROLET_BOLT_ACC_2022_2023 = GMPlatformConfig(
     [
       GMCarDocs("Chevrolet Bolt ACC 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
@@ -572,7 +580,14 @@ CC_REGEN_PADDLE_CAR = {
 CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 
 # ASCM-INT paths are only enabled when SASCM (0x2FF) is detected at runtime
-ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM, CAR.CADILLAC_ESCALADE_ASCM}
+ASCM_INT = {
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.GMC_ACADIA_ASCM,
+  CAR.CHEVROLET_MALIBU_ASCM,
+  CAR.CADILLAC_ESCALADE_ASCM,
+  CAR.CADILLAC_ESCALADE_ESV_2019_ASCM,
+  CAR.BUICK_LACROSSE_ASCM,
+}
 
 STEER_THRESHOLD = 1.0
 

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -2,12 +2,14 @@ from dataclasses import dataclass
 
 import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
+from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, rate_limit, structs
+from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_angle_limits_vm, common_fault_avoidance
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR
+from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                        kia_ev6_gt_line_longitudinal_tuning
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
@@ -61,6 +63,22 @@ REDNECK_BUTTON_COPIES = 2
 REDNECK_BUTTON_COPIES_TIME = 7
 REDNECK_BUTTON_COPIES_TIME_IMPERIAL = [REDNECK_BUTTON_COPIES_TIME + 3, 70]
 REDNECK_BUTTON_COPIES_TIME_METRIC = [REDNECK_BUTTON_COPIES_TIME, 40]
+ANGLE_SAFETY_BASELINE_MODEL = str(CAR.KIA_SPORTAGE_HEV_2026)
+DEFAULT_ANGLE_SMOOTHING_VEGO_BP = [5.0, 10.0, 20.0]
+DEFAULT_ANGLE_SMOOTHING_ALPHA_V = [0.2, 0.1, 0.0]
+EV9_HIGH_ANGLE_GAIN_BP = [70.0, 120.0, 220.0, 320.0]
+EV9_HIGH_ANGLE_GAIN_CAP_V = [0.85, 0.55, 0.30, 0.16]
+EV9_HIGH_ANGLE_GAIN_MIN = 0.004
+
+
+def egmp_dynamic_longitudinal_tuning(CP) -> bool:
+  return CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 or \
+    kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", ""))
+
+
+def should_reset_ev6_gt_line_longitudinal_tuning(CP, long_control_state: LongCtrlState) -> bool:
+  return kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", "")) and \
+    long_control_state == LongCtrlState.off
 
 
 @dataclass
@@ -76,6 +94,13 @@ class Ioniq6LongitudinalTuningState:
   long_control_state_last: LongCtrlState = LongCtrlState.off
 
 
+def reset_ev6_gt_line_longitudinal_tuning(state: Ioniq6LongitudinalTuningState, CP,
+                                           long_control_state: LongCtrlState) -> Ioniq6LongitudinalTuningState:
+  if should_reset_ev6_gt_line_longitudinal_tuning(CP, long_control_state):
+    return Ioniq6LongitudinalTuningState(long_control_state_last=long_control_state)
+  return state
+
+
 @dataclass
 class GenesisG90LongitudinalTuningState:
   actual_accel: float = 0.0
@@ -195,6 +220,40 @@ def update_genesis_g90_longitudinal_tuning(state: GenesisG90LongitudinalTuningSt
   return state
 
 
+def get_baseline_safety_cp():
+  from opendbc.car.hyundai.interface import CarInterface
+  return CarInterface.get_non_essential_params(ANGLE_SAFETY_BASELINE_MODEL)
+
+
+def get_angle_smoothing_alpha(CP, v_ego: float) -> float:
+  return float(np.interp(v_ego, DEFAULT_ANGLE_SMOOTHING_VEGO_BP, DEFAULT_ANGLE_SMOOTHING_ALPHA_V))
+
+
+def compute_torque_reduction_gain(steering_torque, v_ego, lat_active, last_gain):
+  if lat_active:
+    ceiling = np.interp(v_ego, [0.5, 1.5], [1.0, 0.85])
+    shelf = np.interp(v_ego, [2.0, 11.0], [0.45, 0.6])
+    floor = np.interp(v_ego, [2.0, 22.0], [0.1, 0.3])
+    bp1 = np.interp(v_ego, [2.0, 11.0], [75.0, 125.0])
+    bp2 = np.interp(v_ego, [2.0, 11.0], [125.0, 150.0])
+    bp3 = np.interp(v_ego, [2.0, 11.0], [175.0, 275.0])
+    bp4 = np.interp(v_ego, [2.0, 22.0], [400.0, 700.0])
+    target = np.interp(abs(steering_torque), [bp1, bp2, bp3, bp4], [ceiling, shelf, shelf, floor])
+  else:
+    target = 0.0
+
+  gain = rate_limit(target, last_gain, -0.014, 0.004)
+  return round(gain / 0.004) * 0.004
+
+
+def apply_ev9_high_angle_gain_cap(CP, gain: float, steering_angle_deg: float, lat_active: bool) -> float:
+  if CP.carFingerprint != CAR.KIA_EV9 or not CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING or not lat_active:
+    return gain
+
+  cap = float(np.interp(abs(steering_angle_deg), EV9_HIGH_ANGLE_GAIN_BP, EV9_HIGH_ANGLE_GAIN_CAP_V))
+  return max(EV9_HIGH_ANGLE_GAIN_MIN, min(gain, cap))
+
+
 def process_hud_alert(enabled, fingerprint, hud_control):
   sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
 
@@ -227,6 +286,8 @@ class CarController(CarControllerBase):
     self.packer = CANPacker(dbc_names[Bus.pt])
     self.angle_limit_counter = 0
     self.VM = VehicleModel(CP)
+    self.BASELINE_VM = VehicleModel(get_baseline_safety_cp()) if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING else self.VM
+    self.angle_filter = FirstOrderFilter(0.0, 0.2, DT_CTRL)
 
     self.accel_last = 0
     self.apply_torque_last = 0
@@ -297,6 +358,7 @@ class CarController(CarControllerBase):
     copies_xp = REDNECK_BUTTON_COPIES_TIME_METRIC if CS.is_metric else REDNECK_BUTTON_COPIES_TIME_IMPERIAL
     copies = int(np.interp(REDNECK_BUTTON_COPIES_TIME, copies_xp, [1, REDNECK_BUTTON_COPIES]))
     can_sends = [hyundaican.create_clu11(self.packer, self.frame, CS.clu11, send_button, self.CP)] * copies
+    CS.redneck_last_sent_button = getattr(CS, "redneck_send_button", 0)
 
     if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
       self.last_button_frame = self.frame
@@ -318,6 +380,7 @@ class CarController(CarControllerBase):
       hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, (CS.buttons_counter + button_counter_offset) % 0xF, send_button)
       for _ in range(20)
     ]
+    CS.redneck_last_sent_button = getattr(CS, "redneck_send_button", 0)
     self.last_button_frame = self.frame
     return can_sends
 
@@ -326,32 +389,42 @@ class CarController(CarControllerBase):
     hud_control = CC.hudControl
     lka_icon, lfa_icon = self._update_dash_icon_state(CC)
 
-    self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
+    if not self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
+      self.params = CarControllerParams(self.CP, CS.out.vEgoRaw)
     apply_angle = CS.out.steeringAngleDeg
 
     if self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
+      v_ego_raw = CS.out.vEgoRaw
       desired_angle = float(np.clip(actuators.steeringAngleDeg,
                                     -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
                                     self.params.ANGLE_LIMITS.STEER_ANGLE_MAX))
-      apply_angle = apply_steer_angle_limits_vm(desired_angle, self.apply_angle_last, CS.out.vEgoRaw,
+
+      self.angle_filter.update_alpha(get_angle_smoothing_alpha(self.CP, CS.out.vEgo))
+      desired_angle = self.angle_filter.update(desired_angle)
+
+      apply_angle = apply_steer_angle_limits_vm(desired_angle, self.apply_angle_last, v_ego_raw,
                                                 CS.out.steeringAngleDeg, CC.latActive, self.params, self.VM)
 
-      if CS.out.steeringPressed and abs(CS.out.steeringTorque) > self.params.STEER_THRESHOLD:
-        apply_torque = self.params.ANGLE_MIN_TORQUE_REDUCTION_GAIN
-      elif CC.latActive and CS.out.vEgoRaw < 0.3:
-        apply_torque = self.params.ANGLE_ACTIVE_TORQUE_REDUCTION_GAIN
-      else:
-        apply_torque = self.params.ANGLE_MAX_TORQUE_REDUCTION_GAIN if CC.latActive else 0.0
+      if str(self.CP.carFingerprint) != ANGLE_SAFETY_BASELINE_MODEL:
+        apply_angle = apply_steer_angle_limits_vm(apply_angle or desired_angle, self.apply_angle_last, v_ego_raw,
+                                                  CS.out.steeringAngleDeg, CC.latActive, self.params, self.BASELINE_VM)
 
-      apply_steer_req = CC.latActive and apply_torque > 0.0
+      apply_torque = compute_torque_reduction_gain(CS.out.steeringTorque, v_ego_raw, CC.latActive, self.apply_torque_last)
+      apply_torque = apply_ev9_high_angle_gain_cap(self.CP, apply_torque, CS.out.steeringAngleDeg, CC.latActive)
+      apply_steer_req = CC.latActive and apply_torque != 0.0
       torque_fault = False
 
       if apply_angle is None:
-        apply_torque = 0.0
+        apply_torque = 0
         apply_angle = CS.out.steeringAngleDeg
         apply_steer_req = False
 
       self.apply_angle_last = apply_angle
+      if not CC.latActive:
+        self.apply_angle_last = float(np.clip(CS.out.steeringAngleDeg,
+                                              -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
+                                              self.params.ANGLE_LIMITS.STEER_ANGLE_MAX))
+        self.angle_filter.x = self.apply_angle_last
     else:
       # steering torque
       new_torque = int(round(actuators.torque * self.params.STEER_MAX))
@@ -376,6 +449,7 @@ class CarController(CarControllerBase):
     accel = accel_cmd
     stopping = actuators.longControlState == LongCtrlState.stopping
     set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
+    CS.redneck_last_sent_button = 0
 
     can_sends = []
 
@@ -388,22 +462,25 @@ class CarController(CarControllerBase):
     # longitudinal messages - stock ECU is still active and these would conflict
     self.long_active_ecu = self.CP.openpilotLongitudinalControl and not self.ecu_disable_failed
 
-    use_ioniq_6_dynamic_long_tuning = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu and \
-                                      actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
-    if use_ioniq_6_dynamic_long_tuning and self.frame % 5 == 0:
+    use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
+                                   actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
+    if should_reset_ev6_gt_line_longitudinal_tuning(self.CP, actuators.longControlState):
+      self._ioniq_6_long_tuning = reset_ev6_gt_line_longitudinal_tuning(self._ioniq_6_long_tuning, self.CP,
+                                                                         actuators.longControlState)
+    elif use_egmp_dynamic_long_tuning and self.frame % 5 == 0:
       self._ioniq_6_long_tuning = update_ioniq_6_longitudinal_tuning(self._ioniq_6_long_tuning, accel_cmd,
                                                                       CS.out.vEgo, CS.out.aEgo,
                                                                       actuators.longControlState, self.long_active_ecu)
-    use_ioniq_6_smoothed_accel = use_ioniq_6_dynamic_long_tuning and (
+    use_egmp_smoothed_accel = use_egmp_dynamic_long_tuning and (
       accel_cmd >= self._ioniq_6_long_tuning.actual_accel or
       self._ioniq_6_long_tuning.launch_active or
       self._ioniq_6_long_tuning.stopping
     )
-    if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu:
-      if use_ioniq_6_smoothed_accel:
+    if use_egmp_dynamic_long_tuning:
+      if use_egmp_smoothed_accel:
         accel = self._ioniq_6_long_tuning.actual_accel
         stopping = self._ioniq_6_long_tuning.stopping
-      elif use_ioniq_6_dynamic_long_tuning:
+      else:
         accel = float(np.clip(accel_cmd,
                               self.accel_last - IONIQ_6_CANFD_SCC_DECEL_STEP,
                               self.accel_last + IONIQ_6_CANFD_SCC_ACCEL_STEP))
@@ -528,20 +605,31 @@ class CarController(CarControllerBase):
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
     lka_steering_long = lka_steering and self.long_active_ecu
     ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
-    use_ioniq_6_dynamic_long_tuning = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu and \
-                                      CC.actuators.longControlState == LongCtrlState.pid
-    use_ioniq_6_smoothed_accel = use_ioniq_6_dynamic_long_tuning and CC.actuators.accel >= self._ioniq_6_long_tuning.actual_accel
+    use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
+                                   CC.actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
+    use_egmp_smoothed_accel = use_egmp_dynamic_long_tuning and (
+      CC.actuators.accel >= self._ioniq_6_long_tuning.actual_accel or
+      self._ioniq_6_long_tuning.launch_active or
+      self._ioniq_6_long_tuning.stopping
+    )
 
     # steering control
-    preserve_stock_lkas = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not self.long_active_ecu
+    preserve_stock_lkas = bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and not self.long_active_ecu
+    steering_msg_active = apply_steer_req
+    if self.CP.carFingerprint == CAR.KIA_EV9 and self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
+      # EV9 faults if the angle-steering status drops inactive during torque limiting.
+      # Hold the angle status active while lateral is active; VM/safety limits handle actuation.
+      steering_msg_active = CC.latActive
+
     can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled,
-                                                           apply_steer_req, apply_torque, apply_angle,
+                                                           steering_msg_active, apply_torque, apply_angle,
                                                            CS.stock_lfa_msg,
                                                            CS.stock_lkas_msg if preserve_stock_lkas else None,
                                                            lka_icon=lka_icon))
 
     # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
-    if self.frame % 5 == 0 and lka_steering:
+    suppress_lfa = bool(lka_steering)
+    if self.frame % 5 == 0 and suppress_lfa:
       can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
                                                         self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
 
@@ -587,7 +675,8 @@ class CarController(CarControllerBase):
         # and stops publishing object tracks when it disappears. Spoof it periodically on
         # PT bus so the radar keeps tracking.
         if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % 4 == 0:
-          can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // 4, CS.out.brakePressed, CS.out.gasPressed))
+          can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // 4, CS.out.brakePressed,
+                                                                            CS.out.gasPressed, self.CP.carFingerprint))
       elif not ccnc_non_hda2:
         can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
       if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.frame % 5 == 0:
@@ -618,8 +707,8 @@ class CarController(CarControllerBase):
           "lead_rel_speed": lead_rel_speed,
           "lead_visible": lead_visible,
         }
-        if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
-          if use_ioniq_6_smoothed_accel:
+        if use_egmp_dynamic_long_tuning:
+          if use_egmp_smoothed_accel:
             acc_kwargs["jerk_lower"] = self._ioniq_6_long_tuning.jerk_lower
             acc_kwargs["jerk_upper"] = self._ioniq_6_long_tuning.jerk_upper
         can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -8,7 +8,7 @@ from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
-                                       hyundai_cancel_button_enables_cruise
+                                       hyundai_cancel_button_enables_cruise, ALT_BUS_LDA_BUTTON_CARS, ALT_BUS_LDA_BUTTON_SWL_STAT_CARS
 from opendbc.car.interfaces import CarStateBase
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -25,6 +25,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 IONIQ_6_BLINDSPOT_RIGHT_MASK = 0x08
 IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
 CANFD_CAMERA_LEAD_MIN_DISTANCE = 0.1
+ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS = int(1.3e9)
 
 
 def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
@@ -74,6 +75,15 @@ class CarState(CarStateBase):
     self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.lda_button = 0
+    self.sonata_hybrid_lkas_source = None
+    self.sonata_hybrid_lkas_sources = {
+      "bcm": 0,
+      "clu13": 0,
+      "swl_stat": 0,
+    }
+    self.lda_button_raw = 0
+    self.lda_button_raw_initialized = False
+    self.lda_button_last_raw_rise_ts_nanos = 0
     self.left_paddle = 0
     self.mode_button = 0
     self.custom_button = 0
@@ -171,9 +181,77 @@ class CarState(CarStateBase):
 
     return False
 
+  def get_alt_bus_lda_button_raw_state(self, cp_source: CANParser) -> tuple[int, int]:
+    if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_SWL_STAT_CARS:
+      return int(cp_source.vl["CLU13"]["CF_Clu_SWL_Stat"] == 4), cp_source.ts_nanos["CLU13"]["CF_Clu_SWL_Stat"]
+    return int(cp_source.vl["CLU13"]["CF_Clu_LdwsLkasSW"]), cp_source.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"]
+
+  def create_alt_bus_lda_button_events(self, cp_source: CANParser) -> list[structs.CarState.ButtonEvent]:
+    raw_lda_button, raw_lda_button_ts_nanos = self.get_alt_bus_lda_button_raw_state(cp_source)
+    button_events: list[structs.CarState.ButtonEvent] = []
+
+    if not self.lda_button_raw_initialized:
+      self.lda_button_raw_initialized = True
+      self.lda_button_raw = raw_lda_button
+      return button_events
+
+    # Some alt-bus LKAS button layouts pulse several times per physical press burst.
+    # Collapse each burst into a single synthetic press/release pair.
+    if raw_lda_button and not self.lda_button_raw:
+      if self.lda_button_last_raw_rise_ts_nanos == 0 or \
+          raw_lda_button_ts_nanos - self.lda_button_last_raw_rise_ts_nanos > ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS:
+        button_events = [
+          structs.CarState.ButtonEvent(pressed=True, type=ButtonType.lkas),
+          structs.CarState.ButtonEvent(pressed=False, type=ButtonType.lkas),
+        ]
+      self.lda_button_last_raw_rise_ts_nanos = raw_lda_button_ts_nanos
+
+    self.lda_button_raw = raw_lda_button
+    return button_events
+
+  def create_lkas_button_events(self, cp: CANParser, prev_lda_button: int) -> list[structs.CarState.ButtonEvent]:
+    if self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID:
+      self.lda_button = self.get_sonata_hybrid_lkas_button_state(cp)
+    # Some classic HKG platforms publish the LKAS button on the cluster bus instead of BCM_PO_11.
+    elif cp.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0:
+      self.lda_button = int(cp.vl["CLU13"]["CF_Clu_LdwsLkasSW"])
+    elif cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0:
+      self.lda_button = int(cp.vl["BCM_PO_11"]["LDA_BTN"])
+    else:
+      self.lda_button = 0
+
+    return create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})
+
+  def get_sonata_hybrid_lkas_button_state(self, cp: CANParser) -> int:
+    source_states = {
+      "bcm": int(cp.vl["BCM_PO_11"]["LDA_BTN"]) if cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0 else 0,
+      "clu13": int(cp.vl["CLU13"]["CF_Clu_LdwsLkasSW"]) if cp.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0 else 0,
+      "swl_stat": int(cp.vl["CLU13"]["CF_Clu_SWL_Stat"] == 4) if cp.ts_nanos["CLU13"]["CF_Clu_SWL_Stat"] > 0 else 0,
+    }
+
+    changed_sources = [source for source, state in source_states.items() if state != self.sonata_hybrid_lkas_sources[source]]
+    active_sources = [source for source, state in source_states.items() if state]
+
+    selected_source = None
+    if self.sonata_hybrid_lkas_source in changed_sources:
+      selected_source = self.sonata_hybrid_lkas_source
+    elif active_sources:
+      selected_source = active_sources[0]
+    elif changed_sources:
+      selected_source = changed_sources[0]
+    elif self.sonata_hybrid_lkas_source is not None:
+      selected_source = self.sonata_hybrid_lkas_source
+
+    self.sonata_hybrid_lkas_sources.update(source_states)
+    if selected_source is not None:
+      self.sonata_hybrid_lkas_source = selected_source
+      return source_states[selected_source]
+    return 0
+
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
+    cp_alt = can_parsers.get(Bus.alt)
 
     if self.CP.flags & HyundaiFlags.CANFD:
       return self.update_canfd(can_parsers)
@@ -307,14 +385,17 @@ class CarState(CarStateBase):
     prev_cruise_buttons = self.cruise_buttons[-1]
     prev_main_buttons = self.main_buttons[-1]
     prev_lda_button = self.lda_button
+    lkas_button_events = []
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
-    if self.FPCP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON:
-      self.lda_button = cp.vl["BCM_PO_11"]["LDA_BTN"]
+    if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS and cp_alt is not None and self.get_alt_bus_lda_button_raw_state(cp_alt)[1] > 0:
+      lkas_button_events = self.create_alt_bus_lda_button_events(cp_alt)
+    else:
+      lkas_button_events = self.create_lkas_button_events(cp, prev_lda_button)
 
     ret.buttonEvents = [*self.create_cruise_button_events(self.cruise_buttons[-1], prev_cruise_buttons),
                         *create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
-                        *create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})]
+                        *lkas_button_events]
 
     ret.blockPcmEnable = not self.recent_button_interaction()
 
@@ -525,11 +606,17 @@ class CarState(CarStateBase):
     if CP.flags & HyundaiFlags.CANFD:
       return self.get_can_parsers_canfd(CP)
 
-    msgs = []
+    msgs = [
+      ("BCM_PO_11", 0),
+      ("CLU13", 0),
+    ]
     if CP.flags & HyundaiFlags.NON_SCC and not (CP.flags & HyundaiFlags.NON_SCC_NO_FCA):
       msgs.append(("FCA11", 0))  # Non-SCC trims can stop publishing FCA11; don't let it poison canValid
 
-    return {
+    parsers = {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, 0),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
     }
+    if CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS:
+      parsers[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CLU13", 0)], 1)
+    return parsers

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -38,6 +38,14 @@ FW_VERSIONS = {
       b'\xf1\x00IGhe SCC FHCUP      1.00 1.02 99110-M9000         ',
     ],
   },
+  CAR.HYUNDAI_AZERA_HEV_7TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00GN7HMFC  AT KOR LHD 1.00 1.01 99211-N1110 240423',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00GN7_ RDR -----      1.00 1.00 99110-N1100         ',
+    ],
+  },
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',
@@ -607,6 +615,17 @@ FW_VERSIONS = {
       b'\xf1\x00CD ESC \x0b 101 \x10\x03 58910-J7AC0',
     ],
   },
+  CAR.KIA_XCEED_PHEV: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CDph SCC F-CUP      1.00 1.01 99110-CR100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CDe MDPS C 1.00 1.01 56310-XX000 4CDHC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CD2 LKAS AT EUR LHD 1.00 1.01 99211-CR010 621',
+    ],
+  },
   CAR.KIA_FORTE: {
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
@@ -1536,12 +1555,18 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00OS  MDPS C 1.00 1.05 56310J9030\x00 4OSDC105',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310J9030\x00 4OSDC104',
+      b'\xf1\x00OS  MDPS C 1.00 1.05 56310/J9500 4OSDC105',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9200 g30',
+      b'\xf1\x00OS9 LKAS AT AUS RHD 1.00 1.00 95740-J9200 g30',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00OS__ FCA --CUP      1.00 1.00 95655-J9100         ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006T6J0_C2\x00\x006T6K1051\x00\x00TOS4N20NS2\x00\x00\x00\x00',
+      b'\xf1\x006U2V0_C2\x00\x006U2V1051\x00\x00DOS4T16AS2\x00\x00\x00\x00',
     ],
   },
   CAR.KIA_FORTE_2019_NON_SCC: {

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -39,7 +39,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                            CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
                            CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
                            CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
-                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, CAR.KIA_XCEED_PHEV,
                            CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -96,6 +96,8 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
                              lfa_base_values=None, lkas_base_values=None, lka_icon=None):
   if lka_icon is None:
     lka_icon = 2 if enabled else 1
+  ev9_angle_lkas_alt = str(CP.carFingerprint) == "KIA_EV9" and CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and \
+    CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT
 
   control_values = {
     "LKA_MODE": 2,
@@ -128,6 +130,48 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
     lkas_values["ADAS_StrAnglReqVal"] = apply_angle
     lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1
     lkas_values["ADAS_ACIAnglTqRedcGainVal"] = apply_torque if lat_active else 0.0
+    if ev9_angle_lkas_alt:
+      if lat_active:
+        lkas_values.update({
+          "LKA_MODE": 0,
+          "LKA_AVAILABLE": 3,
+          "LKA_WARNING": 0,
+          "LKA_ICON": lka_icon,
+          "FCA_SYSWARN": 0,
+          "TORQUE_REQUEST": 0,
+          "STEER_REQ": 0,
+          "LFA_BUTTON": 0,
+          "LKA_ASSIST": 0,
+          "DAMP_FACTOR": 100,
+          "HAS_LANE_SAFETY": 0,
+        })
+      elif lkas_base_values:
+        for signal in ("LKA_MODE", "LKA_AVAILABLE", "LKA_WARNING", "LKA_ICON", "FCA_SYSWARN",
+                       "LFA_BUTTON", "LKA_ASSIST", "DAMP_FACTOR", "HAS_LANE_SAFETY"):
+          if signal in lkas_base_values:
+            lkas_values[signal] = lkas_base_values[signal]
+        lkas_values.update({
+          "TORQUE_REQUEST": 0,
+          "STEER_REQ": 0,
+        })
+      else:
+        lkas_values.update({
+          "LKA_MODE": 0,
+          "LKA_AVAILABLE": 0,
+          "LKA_WARNING": 0,
+          "LKA_ICON": lka_icon,
+          "FCA_SYSWARN": 0,
+          "TORQUE_REQUEST": 0,
+          "STEER_REQ": 0,
+          "LFA_BUTTON": 0,
+          "LKA_ASSIST": 0,
+          "DAMP_FACTOR": 100,
+          "HAS_LANE_SAFETY": 0,
+        })
+      # These signals overlap DAMP_FACTOR in the local DBC naming; omitting them
+      # preserves the stock angle-steering damping byte expected by the ADAS ECU.
+      lkas_values.pop("STEER_MODE", None)
+      lkas_values.pop("NEW_SIGNAL_2", None)
 
   ret = []
   if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
@@ -709,11 +753,15 @@ def hkg_can_fd_checksum(address: int, sig, d: bytearray) -> int:
 # radar stops publishing real object tracks. Spoof this message ourselves with valid CRC
 # and current pedal state so the radar keeps tracking.
 # Length is 24 bytes on Ioniq 6 (DBC declares 32 for ICE Hyundais, but EV firmware uses 24).
-# Byte template captured from a real ADAS broadcast; bytes 6-23 appear static / config.
+# Byte templates captured from real ADAS broadcasts; only checksum, counter,
+# brake, and accelerator bits are updated for the radar heartbeat.
 _ACCEL_BRAKE_ALT_TEMPLATE = bytes.fromhex("000000020000fcff000000000020000055ff000068000000")
+_KIA_EV9_ACCEL_BRAKE_ALT_TEMPLATE = bytes.fromhex("00000000ff006f00e80400001201030055ffff0000000000")
 
-def create_accelerator_brake_alt_spoof(bus: int, counter: int, brake_pressed: bool, accelerator_pressed: bool) -> CanData:
-  d = bytearray(_ACCEL_BRAKE_ALT_TEMPLATE)
+def create_accelerator_brake_alt_spoof(bus: int, counter: int, brake_pressed: bool, accelerator_pressed: bool,
+                                       car_fingerprint=None) -> CanData:
+  template = _KIA_EV9_ACCEL_BRAKE_ALT_TEMPLATE if str(car_fingerprint) == "KIA_EV9" else _ACCEL_BRAKE_ALT_TEMPLATE
+  d = bytearray(template)
   d[2] = counter & 0xFF                              # COUNTER (bit 16, 8-bit)
   d[4] = (d[4] & ~0x01) | (0x01 if brake_pressed else 0x00)         # BRAKE_PRESSED (bit 32)
   d[22] = (d[22] & ~0x01) | (0x01 if accelerator_pressed else 0x00) # ACCELERATOR_PEDAL_PRESSED (bit 176)

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -4,12 +4,15 @@ from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    CANFD_SECURITYACCESS_CAR, \
+                                                   CANFD_ANGLE_LONGITUDINAL_CAR, \
                                                    CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
+                                                   LEGACY_LONGITUDINAL_CAR, \
                                                    HyundaiStarPilotSafetyFlags, \
-                                                   hyundai_cancel_button_enables_cruise
-from opendbc.car.hyundai.radar_interface import get_radar_track_config
+                                                   hyundai_cancel_button_enables_cruise, \
+                                                   kia_ev6_gt_line_longitudinal_tuning
+from opendbc.car.hyundai.radar_interface import get_radar_track_config, radar_tracks_available
 from opendbc.car.interfaces import CarInterfaceBase, ACCEL_MIN
 from opendbc.car.disable_ecu import disable_ecu, ecu_log
 from opendbc.car.hyundai.carcontroller import CarController
@@ -24,6 +27,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
 
 # Track when ECU disable happened - used to permanently suppress CAN errors from disabled ECU
 ECU_DISABLE_TIMESTAMP = 0.0
+KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
 
 
 def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -38,6 +42,12 @@ def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
   ret.stoppingDecelRate = 0.4
 
 
+def apply_kia_ev6_gt_line_longitudinal_params(ret: structs.CarParams) -> None:
+  ret.startAccel = 1.4
+  ret.longitudinalActuatorDelay = 0.35
+  ret.vEgoStarting = 0.5
+
+
 def apply_ecu_disable_failure_fallback(CP: structs.CarParams, params) -> None:
   params.put_bool("EcuDisableFailed", True)
   CP.safetyConfigs[-1].safetyParam &= ~HyundaiSafetyFlags.LONG.value
@@ -45,6 +55,18 @@ def apply_ecu_disable_failure_fallback(CP: structs.CarParams, params) -> None:
   CP.pcmCruise = True
 
 
+def detect_kona_non_scc_radar_fca(candidate, fingerprint, car_fw) -> bool:
+  if candidate != CAR.HYUNDAI_KONA_NON_SCC:
+    return False
+
+  if any(fw.ecu == Ecu.fwdRadar for fw in car_fw):
+    return True
+
+  # Some non-SCC Kona trims have FCA radar tracks without SCC. Use PT FCA11
+  # status on those cars; camera-bus FCA11 is not continuously published.
+  return KONA_NON_SCC_FCA_RADAR_ADDR in fingerprint[1]
+
+
 class CarInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
@@ -54,6 +76,11 @@ class CarInterface(CarInterfaceBase):
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
+  @staticmethod
+  def apply_post_fingerprint_params(CP: structs.CarParams, candidate, fingerprint, car_fw) -> None:
+    if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin):
+      apply_kia_ev6_gt_line_longitudinal_params(CP)
+
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.brand = "hyundai"
@@ -73,8 +100,8 @@ class CarInterface(CarInterfaceBase):
         # this needs to be figured out for cars without an ADAS ECU
         # Cars in CANFD_SECURITYACCESS_CAR are known to have ADAS ECUs that work with SecurityAccess
         ret.alphaLongitudinalAvailable = False
-      if lka_steering and ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
-        # Angle-steering LKA platforms still need stock longitudinal validation.
+      if lka_steering and ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING and candidate not in CANFD_ANGLE_LONGITUDINAL_CAR:
+        # Most angle-steering LKA platforms still need stock longitudinal validation.
         ret.alphaLongitudinalAvailable = False
 
       ret.enableBsm = 0x1ba in fingerprint[CAN.ECAN]
@@ -126,7 +153,7 @@ class CarInterface(CarInterfaceBase):
 
     else:
       # Shared configuration for non CAN-FD cars
-      ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
+      ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR or candidate in LEGACY_LONGITUDINAL_CAR
       ret.enableBsm = 0x58b in fingerprint[CAN.ECAN]
 
       # Send LFA message on cars with HDA
@@ -136,6 +163,8 @@ class CarInterface(CarInterfaceBase):
       # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
       if 0x38d in fingerprint[CAN.ECAN] or 0x38d in fingerprint[CAN.CAM]:
         ret.flags |= HyundaiFlags.USE_FCA.value
+      if detect_kona_non_scc_radar_fca(candidate, fingerprint, car_fw):
+        ret.flags |= HyundaiFlags.NON_SCC_RADAR_FCA.value
 
       if ret.flags & HyundaiFlags.LEGACY:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -176,13 +205,13 @@ class CarInterface(CarInterfaceBase):
 
     # Common longitudinal control setup
 
-    radar_config = get_radar_track_config(ret.carFingerprint)
-    radar_tracks_available = radar_config is not None and radar_config.start_addr in fingerprint[radar_config.bus]
-    ret.radarUnavailable = not radar_tracks_available
+    radar_config = get_radar_track_config(ret.carFingerprint, ret.flags)
+    radar_available = radar_tracks_available(radar_config, fingerprint)
+    ret.radarUnavailable = not radar_available
     if ret.flags & HyundaiFlags.NON_SCC:
       ret.alphaLongitudinalAvailable = False
     ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
-    if ret.openpilotLongitudinalControl and not (candidate in RADAR_LIVE_LONGITUDINAL_CAR and radar_tracks_available):
+    if ret.openpilotLongitudinalControl and not (candidate in RADAR_LIVE_LONGITUDINAL_CAR and radar_available):
       ret.radarUnavailable = True
     ret.pcmCruise = not ret.openpilotLongitudinalControl
     apply_platform_longitudinal_params(ret)

opendbc_repo/opendbc/car/hyundai/radar_interface.py

@@ -1,15 +1,20 @@
 import math
-from dataclasses import dataclass
+from dataclasses import dataclass, replace
 
 from opendbc.can import CANParser
+from opendbc.can.dbc import DBC as DBCReader
+from opendbc.can.parser import get_raw_value
 from opendbc.car import Bus, structs
 from opendbc.car.interfaces import RadarInterfaceBase
-from opendbc.car.hyundai.values import CAR, DBC, HYUNDAI_MANDO_FRONT_RADAR_DBC, HYUNDAI_MRR30_RADAR_DBC, \
-                                       HYUNDAI_MRR35_RADAR_DBC
+from opendbc.car.hyundai.values import CAR, DBC, HyundaiFlags, HYUNDAI_MANDO_FRONT_RADAR_DBC, HYUNDAI_MRREVO14F_RADAR_DBC, \
+                                       HYUNDAI_MRR30_RADAR_DBC, HYUNDAI_MRR35_RADAR_DBC
 from openpilot.common.swaglog import cloudlog
 
 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32
+G90_RADAR_MSG_COUNT = 64
+MRREVO14F_RADAR_START_ADDR = 0x602
+MRREVO14F_RADAR_MSG_COUNT = 16
 MRR30_RADAR_START_ADDR = 0x210
 MRR30_RADAR_MSG_COUNT = 16
 MRR35_RADAR_START_ADDR = 0x3A5
@@ -23,37 +28,73 @@ class RadarTrackConfig:
   radar_type: str
   bus: int = 1
   frequency: int = 50
+  parser_msg_count: int | None = None
+  expected_length: int | None = None
+
+  @property
+  def can_parser_msg_count(self) -> int:
+    return self.parser_msg_count if self.parser_msg_count is not None else self.msg_count
 
 
 RADAR_TRACK_CONFIGS = {
   HYUNDAI_MANDO_FRONT_RADAR_DBC: RadarTrackConfig(RADAR_START_ADDR, RADAR_MSG_COUNT, "mando"),
-  HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30"),
-  HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0, frequency=20),
+  HYUNDAI_MRREVO14F_RADAR_DBC: RadarTrackConfig(MRREVO14F_RADAR_START_ADDR, MRREVO14F_RADAR_MSG_COUNT, "mrrevo14f"),
+  HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30", bus=0, expected_length=32),
+  HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0, frequency=20, expected_length=24),
 }
 
 # POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
 
 
-def get_radar_track_config(car_fingerprint) -> RadarTrackConfig | None:
+def get_radar_track_config(car_fingerprint, flags: int = 0) -> RadarTrackConfig | None:
   radar_dbc = DBC[car_fingerprint].get(Bus.radar)
-  return RADAR_TRACK_CONFIGS.get(radar_dbc)
+  if car_fingerprint == CAR.GENESIS_G90 and radar_dbc == HYUNDAI_MANDO_FRONT_RADAR_DBC:
+    return RadarTrackConfig(RADAR_START_ADDR, G90_RADAR_MSG_COUNT, "mando", parser_msg_count=RADAR_MSG_COUNT)
+
+  radar_config = RADAR_TRACK_CONFIGS.get(radar_dbc)
+  if radar_config is None:
+    return None
+
+  if car_fingerprint == CAR.HYUNDAI_IONIQ_6 and flags & HyundaiFlags.CANFD_CAMERA_SCC:
+    return replace(radar_config, bus=1)
+
+  return radar_config
+
+
+def radar_tracks_available(radar_config: RadarTrackConfig | None, fingerprint) -> bool:
+  if radar_config is None:
+    return False
+
+  msg_len = fingerprint[radar_config.bus].get(radar_config.start_addr)
+  if msg_len is None:
+    return False
+
+  return radar_config.expected_length is None or msg_len == radar_config.expected_length
 
 
 def get_radar_can_parser(CP, radar_config):
   if radar_config is None:
     return None
 
-  messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency) for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count)]
+  messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency)
+              for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.can_parser_msg_count)]
   return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
 
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.radar_config = get_radar_track_config(CP.carFingerprint)
+    self.radar_config = get_radar_track_config(CP.carFingerprint, CP.flags)
     self.updated_messages = set()
-    self.trigger_msg = (self.radar_config.start_addr + self.radar_config.msg_count - 1) if self.radar_config is not None else RADAR_START_ADDR
+    self.trigger_msg = (self.radar_config.start_addr + self.radar_config.can_parser_msg_count - 1
+                        if self.radar_config is not None else RADAR_START_ADDR)
     self.track_id = 0
+    self.g90_extended_mando = (CP.carFingerprint == CAR.GENESIS_G90 and self.radar_config is not None and
+                               self.radar_config.msg_count > self.radar_config.can_parser_msg_count)
+    self.g90_mando_signals = []
+    if self.g90_extended_mando:
+      radar_dbc = DBCReader(DBC[CP.carFingerprint][Bus.radar])
+      self.g90_mando_signals = list(radar_dbc.addr_to_msg[RADAR_START_ADDR].sigs.values())
 
     self.radar_off_can = CP.radarUnavailable
     # Probe whether radar tracks still exist on the Ioniq 6 while OP long is active,
@@ -70,7 +111,7 @@ class RadarInterface(RadarInterfaceBase):
     if self.radar_config is not None:
       self.track_addrs = [(addr, f"RADAR_TRACK_{addr:x}")
                           for addr in range(self.radar_config.start_addr,
-                                            self.radar_config.start_addr + self.radar_config.msg_count)]
+                                            self.radar_config.start_addr + self.radar_config.can_parser_msg_count)]
 
   def update(self, can_strings):
     if self.ioniq_6_radar_probe and self.rcp is not None and not self.ioniq_6_radar_probe_logged:
@@ -93,6 +134,8 @@ class RadarInterface(RadarInterfaceBase):
 
     vls = self.rcp.update(can_strings)
     self.updated_messages.update(vls)
+    if self.g90_extended_mando:
+      self._update_g90_extended_mando_tracks(can_strings)
 
     if self.trigger_msg not in self.updated_messages:
       return None
@@ -102,6 +145,46 @@ class RadarInterface(RadarInterfaceBase):
 
     return rr
 
+  def _decode_g90_mando_values(self, dat: bytes):
+    vals = {}
+    for sig in self.g90_mando_signals:
+      raw = get_raw_value(dat, sig)
+      if sig.is_signed:
+        raw -= ((raw >> (sig.size - 1)) & 1) * (1 << sig.size)
+      vals[sig.name] = raw * sig.factor + sig.offset
+    return vals
+
+  def _update_g90_extended_mando_tracks(self, can_strings):
+    if self.radar_config is None:
+      return
+
+    start_addr = self.radar_config.start_addr + self.radar_config.can_parser_msg_count
+    end_addr = self.radar_config.start_addr + self.radar_config.msg_count
+
+    for _, frames in can_strings:
+      for address, dat, src in frames:
+        if src != self.radar_config.bus or not (start_addr <= address < end_addr) or len(dat) < 8:
+          continue
+
+        self.updated_messages.add(address)
+        msg = self._decode_g90_mando_values(dat)
+        valid = msg["STATE"] in (3, 4)
+        if valid:
+          if address not in self.pts:
+            self.pts[address] = structs.RadarData.RadarPoint()
+            self.pts[address].trackId = self.track_id
+            self.track_id += 1
+
+          azimuth = math.radians(msg["AZIMUTH"])
+          self.pts[address].measured = True
+          self.pts[address].dRel = math.cos(azimuth) * msg["LONG_DIST"]
+          self.pts[address].yRel = 0.5 * -math.sin(azimuth) * msg["LONG_DIST"]
+          self.pts[address].vRel = msg["REL_SPEED"]
+          self.pts[address].aRel = msg["REL_ACCEL"]
+          self.pts[address].yvRel = float("nan")
+        elif address in self.pts:
+          del self.pts[address]
+
   def _update(self, updated_messages):
     ret = structs.RadarData()
     if self.rcp is None:
@@ -140,6 +223,27 @@ class RadarInterface(RadarInterfaceBase):
             del self.pts[track_key]
         continue
 
+      if radar_type == "mrrevo14f":
+        for i in ("1", "2"):
+          track_key = addr * 2 + int(i) - 1
+          valid = msg[f"{i}_DISTANCE"] != 255.75
+          if valid:
+            pt = self.pts.get(track_key)
+            if pt is None:
+              pt = structs.RadarData.RadarPoint()
+              pt.trackId = self.track_id
+              self.track_id += 1
+              self.pts[track_key] = pt
+            pt.measured = True
+            pt.dRel = msg[f"{i}_DISTANCE"]
+            pt.yRel = msg[f"{i}_LATERAL"]
+            pt.vRel = msg[f"{i}_SPEED"]
+            pt.aRel = float("nan")
+            pt.yvRel = float("nan")
+          elif track_key in self.pts:
+            del self.pts[track_key]
+        continue
+
       if radar_type == "mrr35":
         # Most of the 32 channels are empty each frame. Only allocate a point
         # when the channel is valid; drop it otherwise. Avoids the per-frame

opendbc_repo/opendbc/car/hyundai/values.py

@@ -1,9 +1,9 @@
 import re
-from dataclasses import dataclass, field, replace
+from dataclasses import dataclass, field
 from enum import IntFlag
 
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
-from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL, ISO_LATERAL_JERK
+from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, SupportType
@@ -11,14 +11,8 @@ from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = CarParams.Ecu
 AVERAGE_ROAD_ROLL = 0.06  # conservative roll margin used by Hyundai CAN-FD angle steering safety
-SPORTAGE_HEV_2026_MAX_LATERAL_ACCEL = 3.6
-SPORTAGE_HEV_2026_BASE_LATERAL_JERK = 3.25
-SPORTAGE_HEV_2026_LOW_SPEED_JERK_BOOST = 0.55
-SPORTAGE_HEV_2026_LOW_SPEED_JERK_SPEED = 11.0
-SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH = 5.0
-SPORTAGE_HEV_2026_MAX_ANGLE_RATE = 6.5
-SPORTAGE_HEV_2026_STEER_ANGLE_MAX = 220.0
 HYUNDAI_MANDO_FRONT_RADAR_DBC = "hyundai_kia_mando_front_radar_generated"
+HYUNDAI_MRREVO14F_RADAR_DBC = "hyundai_mrrevo14f_radar_generated"
 HYUNDAI_MRR30_RADAR_DBC = "hyundai_mrr30_radar_generated"
 HYUNDAI_MRR35_RADAR_DBC = "hyundai_mrr35_radar_generated"
 
@@ -27,16 +21,13 @@ class CarControllerParams:
   ACCEL_MIN = -3.5 # m/s
   ACCEL_MAX = 3.5 # m/s
   ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
-    180,
+    360,
     ([], []),
     ([], []),
     MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
-    MAX_LATERAL_JERK=ISO_LATERAL_JERK + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
+    MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
     MAX_ANGLE_RATE=5,
   )
-  ANGLE_MAX_TORQUE_REDUCTION_GAIN = 1.0
-  ANGLE_MIN_TORQUE_REDUCTION_GAIN = 0.6
-  ANGLE_ACTIVE_TORQUE_REDUCTION_GAIN = 0.6
 
   def __init__(self, CP, vEgoRaw=100.):
     self.ANGLE_LIMITS = self.ANGLE_LIMITS
@@ -63,20 +54,8 @@ class CarControllerParams:
     if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
       self.STEER_THRESHOLD = 175
 
-      # The Sportage angle port still needs more authority in real turns than the
-      # fully calmed branch-wide ceiling allows, but the old low-speed jerk boost
-      # made the 3-20 degree band angry and ping-pongy as the car slowed down.
-      # Split the difference:
-      # - keep a calmer low-speed boost that fades out earlier
-      # - give the car a little more true turn headroom through accel/rate limits
-      if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
-        sportage_low_speed_weight = min(max((SPORTAGE_HEV_2026_LOW_SPEED_JERK_SPEED - vEgoRaw) / SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH, 0.0), 1.0)
-        sportage_lateral_jerk = SPORTAGE_HEV_2026_BASE_LATERAL_JERK + (SPORTAGE_HEV_2026_LOW_SPEED_JERK_BOOST * sportage_low_speed_weight)
-        self.ANGLE_LIMITS = replace(self.ANGLE_LIMITS,
-                                    STEER_ANGLE_MAX=SPORTAGE_HEV_2026_STEER_ANGLE_MAX,
-                                    MAX_LATERAL_ACCEL=SPORTAGE_HEV_2026_MAX_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
-                                    MAX_LATERAL_JERK=sportage_lateral_jerk + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
-                                    MAX_ANGLE_RATE=SPORTAGE_HEV_2026_MAX_ANGLE_RATE)
+    elif CP.flags & HyundaiFlags.CANFD:
+      pass
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
@@ -224,9 +203,12 @@ class HyundaiNonSccCarDocs(CarDocs):
 @dataclass
 class HyundaiPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
+  radar_dbc: str | None = None
 
   def init(self):
-    if self.flags & HyundaiFlags.MANDO_RADAR:
+    if self.radar_dbc is not None:
+      self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: self.radar_dbc}
+    elif self.flags & HyundaiFlags.MANDO_RADAR:
       self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: HYUNDAI_MANDO_FRONT_RADAR_DBC}
 
     if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
@@ -250,8 +232,12 @@ class HyundaiCanFDPlatformConfig(PlatformConfig):
 @dataclass
 class HyundaiNonSccPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
+  radar_dbc: str | None = None
 
   def init(self):
+    if self.radar_dbc is not None:
+      self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: self.radar_dbc}
+
     self.flags |= HyundaiFlags.NON_SCC
 
     if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
@@ -272,6 +258,14 @@ class CAR(Platforms):
     CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
     flags=HyundaiFlags.HYBRID,
   )
+  HYUNDAI_AZERA_HEV_7TH_GEN = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Hyundai Azera Hybrid (with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_s])),
+    ],
+    CarSpecs(mass=1720, wheelbase=2.895, steerRatio=13.5),
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
+  )
   HYUNDAI_ELANTRA = HyundaiPlatformConfig(
     [
       # TODO: 2017-18 could be Hyundai G
@@ -313,7 +307,7 @@ class CAR(Platforms):
   HYUNDAI_IONIQ = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH | HyundaiFlags.MANDO_RADAR,
   )
   HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],
@@ -369,6 +363,7 @@ class CAR(Platforms):
     [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
     CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
+    radar_dbc=HYUNDAI_MRREVO14F_RADAR_DBC,
   )
   HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
     [
@@ -400,17 +395,17 @@ class CAR(Platforms):
     [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video="https://youtu.be/VnHzSTygTS4",
                     car_parts=CarParts.common([CarHarness.hyundai_l]))],
     HYUNDAI_SANTA_FE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
   HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
     HYUNDAI_SANTA_FE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
   HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
     HYUNDAI_SANTA_FE.specs,
-    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
+    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
   HYUNDAI_SANTA_FE_HEV_5TH_GEN = HyundaiCanFDPlatformConfig(
     [
@@ -741,20 +736,26 @@ class CAR(Platforms):
     CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
     flags=HyundaiFlags.LEGACY,
   )
+  KIA_XCEED_PHEV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Kia XCeed Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_b]))],
+    CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
+  )
   KIA_EV6 = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
       HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
       HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],
-    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
+    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=14.25, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
   )
   KIA_EV6_2025 = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Kia EV6 (with HDA I) 2025", "Highway Driving Assist I", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],
-    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
+    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
     radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
   )
@@ -783,6 +784,7 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=2205, wheelbase=2.9, steerRatio=17.6),
     flags=HyundaiFlags.EV,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
   )
   GENESIS_G70 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
@@ -875,6 +877,7 @@ class CAR(Platforms):
     [HyundaiNonSccCarDocs("Hyundai Kona Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_b]))],
     HYUNDAI_KONA.specs,
     flags=HyundaiFlags.ALT_LIMITS,
+    radar_dbc=HYUNDAI_MRREVO14F_RADAR_DBC,
   )
   HYUNDAI_KONA_EV_NON_SCC = HyundaiNonSccPlatformConfig(
     [HyundaiNonSccCarDocs("Hyundai Kona Electric Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_g]))],
@@ -919,11 +922,34 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
   CAR.HYUNDAI_PALISADE_2023,
 })
 
+KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES = frozenset({
+  "C4DLC",
+})
+
+
+# These classic HKG platforms publish the LKAS button on CLU13 over the alt bus.
+# Keep G90 excluded until its alt-bus path is route-proven without the recent
+# engage/disengage regression.
+ALT_BUS_LDA_BUTTON_CARS = frozenset({
+  CAR.HYUNDAI_SONATA,
+})
+
+# On these Sonata layouts the alt-bus LKAS button pulses through the CLU13
+# steering-wheel-status field instead of the dedicated LKAS bit.
+ALT_BUS_LDA_BUTTON_SWL_STAT_CARS = frozenset({
+  CAR.HYUNDAI_SONATA,
+})
+
 
 def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
   return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS
 
 
+def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str) -> bool:
+  return car_fingerprint == CAR.KIA_EV6 and isinstance(vin, str) and \
+    len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
+
+
 def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
   # Returns unique, platform-specific identification codes for a set of versions
   codes = set()  # (code-Optional[part], date)
@@ -1080,7 +1106,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
   non_essential_ecus={
     Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
               CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
-              CAR.KIA_CEED, CAR.KIA_SELTOS],
+              CAR.KIA_CEED, CAR.KIA_XCEED_PHEV, CAR.KIA_SELTOS],
+    Ecu.fwdRadar: [CAR.HYUNDAI_KONA_NON_SCC],
   },
   extra_ecus=[
     (Ecu.adas, 0x730, None),              # ADAS Driving ECU on platforms with LKA steering
@@ -1110,8 +1137,19 @@ CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)  # TODO: merge with
 # CAN-FD cars with ADAS ECUs that work with the communication-control path.
 CANFD_SECURITYACCESS_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_KONA_EV_2ND_GEN}
 CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) - CANFD_SECURITYACCESS_CAR  # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
-CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6}
-RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {CAR.GENESIS_G90}
+CANFD_ANGLE_LONGITUDINAL_CAR = set()
+CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.GENESIS_GV60_EV_1ST_GEN}
+RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
+  CAR.HYUNDAI_IONIQ,
+  CAR.HYUNDAI_KONA_EV_2022,
+  CAR.HYUNDAI_SANTA_FE_2022,
+  CAR.HYUNDAI_SANTA_FE_HEV_2022,
+  CAR.HYUNDAI_SANTA_FE_PHEV_2022,
+  CAR.HYUNDAI_SONATA,
+  CAR.HYUNDAI_SONATA_HYBRID,
+  CAR.KIA_XCEED_PHEV,
+  CAR.GENESIS_G90,
+}
 
 CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
 
@@ -1127,4 +1165,6 @@ NON_SCC_CAR = CAR.with_flags(HyundaiFlags.NON_SCC)
 #       HyundaiFlags.CANFD_RADAR_SCC | HyundaiFlags.CANFD_NO_RADAR_DISABLE | )
 UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
 
+LEGACY_LONGITUDINAL_CAR = {CAR.KIA_XCEED_PHEV}
+
 DBC = CAR.create_dbc_map()

opendbc_repo/opendbc/car/interfaces.py

@@ -20,8 +20,9 @@ from opendbc.car.common.simple_kalman import KF1D, get_kalman_gain
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HondaFlags, HondaSafetyFlags, HondaStarPilotFlags
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags
+from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, ALT_BUS_LDA_BUTTON_CARS
 from opendbc.car.mock.values import CAR as MOCK
+from opendbc.car.subaru.values import CAR as SUBARU, SubaruSafetyFlags
 from opendbc.car.toyota.values import CAR as TOYOTA, NO_DSU_CAR, TSS2_CAR, UNSUPPORTED_DSU_CAR, ToyotaStarPilotFlags, ToyotaSafetyFlags
 from opendbc.car.values import PLATFORMS
 from opendbc.can import CANParser
@@ -133,6 +134,7 @@ class CarInterfaceBase(ABC):
 
     dbc_names = {bus: cp.dbc_name for bus, cp in self.can_parsers.items()}
     self.CC: CarControllerBase = self.CarController(dbc_names, CP)
+    self.CC.FPCP = FPCP
 
     self.FPCP = FPCP
 
@@ -174,8 +176,11 @@ class CarInterfaceBase(ABC):
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, alpha_long, is_release, docs)
 
+    trailer_load_kg = float(np.clip(getattr(starpilot_toggles, "trailer_load_kg", 0.0) or 0.0, 0.0, 15000.0 * CV.LB_TO_KG))
+
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:
+      ret.mass = ret.mass + trailer_load_kg
       ret.mass = ret.mass + STD_CARGO_KG
 
     # Set params dependent on values set by the car interface
@@ -199,6 +204,7 @@ class CarInterfaceBase(ABC):
   def get_starpilot_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], CP: structs.CarParams, starpilot_toggles: SimpleNamespace):
     fp_ret = custom.StarPilotCarParams.new_message()
     fp_ret.pcmCruiseSpeed = True
+    params = Params(return_defaults=True)
 
     platform = PLATFORMS[candidate]
 
@@ -210,6 +216,9 @@ class CarInterfaceBase(ABC):
         if candidate == CHRYSLER.RAM_HD_5TH_GEN:
           if 570 not in fingerprint[0]:
             fp_ret.flags |= ChryslerStarPilotFlags.RAM_HD_ALT_BUTTONS.value
+        if 0x4FF in fingerprint[0]:
+          fp_ret.flags |= ChryslerStarPilotFlags.NO_MIN_STEERING_SPEED.value
+          CP.minSteerSpeed = 0.
 
       elif platform in GM:
         fp_ret.canUsePedal = True
@@ -228,14 +237,22 @@ class CarInterfaceBase(ABC):
           if 0x1FA in fingerprint[CAN.ECAN]:
             fp_ret.flags |= HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE.value
 
-        fp_ret.redneckCruiseAvailable = not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
-        if fp_ret.redneckCruiseAvailable and Params(return_defaults=True).get_bool("RedneckCruise") and \
+        fp_ret.redneckCruiseAvailable = bool(CP.flags & HyundaiFlags.NON_SCC) and not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
+        if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise") and \
             not CP.openpilotLongitudinalControl:
           fp_ret.pcmCruiseSpeed = False
 
-        if 0x391 in fingerprint[0] or CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
+        hyundai_has_lda_button = (
+          0x391 in fingerprint[0] or
+          0x50C in fingerprint[0] or
+          candidate in ALT_BUS_LDA_BUTTON_CARS or
+          bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED)
+        )
+        if hyundai_has_lda_button:
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
-        if starpilot_toggles.always_on_lateral_lkas:
+
+        # LKASButtonControl == 9 means BUTTON_FUNCTIONS["AOL_TOGGLE"] in starpilot_variables.
+        if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
       elif platform in TOYOTA:
         fp_ret.canUsePedal = not CP.autoResumeSng
@@ -254,6 +271,10 @@ class CarInterfaceBase(ABC):
       elif platform.config.platform_str == "TESLA_MODEL_S_PREAP":
         fp_ret.canUsePedal = True
 
+      elif platform in SUBARU:
+        if getattr(starpilot_toggles, "subaru_sng", False):
+          fp_ret.safetyConfigs[-1].safetyParam |= SubaruSafetyFlags.STOP_AND_GO.value
+
     return fp_ret
 
   @staticmethod
@@ -488,6 +509,7 @@ class CarStateBase(ABC):
 class CarControllerBase(ABC):
   def __init__(self, dbc_names: dict[StrEnum, str], CP: structs.CarParams):
     self.CP = CP
+    self.FPCP: custom.StarPilotCarParams | None = None
     self.frame = 0
     self.secoc_key: bytes = b"00" * 16
 

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -1,6 +1,6 @@
 import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import Bus, make_tester_present_msg
+from opendbc.car import Bus, DT_CTRL, make_tester_present_msg
 from opendbc.car.lateral import apply_driver_steer_torque_limits, common_fault_avoidance
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
@@ -26,14 +26,9 @@ class CarController(CarControllerBase):
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
 
-    self.manual_hold = False
-    self.prev_standstill = False
-    self.sng_acc_resume = False
-
     self.prev_close_distance = 0
-    self.prev_cruise_state = 0
-    self.sng_acc_resume_cnt = 0
-    self.standstill_start = 0
+    self.epb_resume_frames_remaining = -1
+    self.last_standstill_frame = 0
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
@@ -70,8 +65,9 @@ class CarController(CarControllerBase):
       self.apply_torque_last = apply_torque
 
     # *** stop and go ***
+    subaru_sng_manual_parking_brake = getattr(starpilot_toggles, "subaru_sng_manual_parking_brake", False)
     if starpilot_toggles.subaru_sng:
-      throttle_cmd, speed_cmd = self.stop_and_go(CC, CS)
+      throttle_cmd, speed_cmd = self.stop_and_go(CC, CS, subaru_sng_manual_parking_brake)
 
     # *** longitudinal ***
 
@@ -110,7 +106,11 @@ class CarController(CarControllerBase):
         can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
 
       if starpilot_toggles.subaru_sng:
-        can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
+        can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg,
+                                                             throttle_cmd))
+        if self.frame % 2 == 0:
+          can_sends.append(subarucan.create_preglobal_brake_pedal(self.packer, CS.brake_pedal_msg,
+                                                                  speed_cmd))
     else:
       if self.frame % 10 == 0:
         can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled,
@@ -124,9 +124,11 @@ class CarController(CarControllerBase):
           can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
 
       if starpilot_toggles.subaru_sng:
-        can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
+        can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg,
+                                                   throttle_cmd))
         if self.frame % 2 == 0:
-          can_sends.append(subarucan.create_brake_pedal(self.packer, self.frame // 2, CS.brake_pedal_msg, speed_cmd, pcm_cancel_cmd))
+          can_sends.append(subarucan.create_brake_pedal(self.packer, self.frame // 2, CS.brake_pedal_msg,
+                                                        speed_cmd, pcm_cancel_cmd))
 
       if self.CP.openpilotLongitudinalControl:
         if self.frame % 5 == 0:
@@ -166,49 +168,37 @@ class CarController(CarControllerBase):
     self.frame += 1
     return new_actuators, can_sends
 
-  def stop_and_go(self, CC, CS, speed_cmd=False, throttle_cmd=False):
-    if self.CP.flags & SubaruFlags.PREGLOBAL:
-      trigger_resume = CC.enabled
-      trigger_resume &= CS.car_follow == 1
-      trigger_resume &= CS.close_distance > self.prev_close_distance
-      trigger_resume &= CS.out.standstill
-      trigger_resume &= _SNG_ACC_MIN_DIST < CS.close_distance < _SNG_ACC_MAX_DIST
+  def stop_and_go(self, CC, CS, manual_parking_brake=False):
+    throttle_cmd = False
+    speed_cmd = False
 
-      if trigger_resume:
-        self.sng_acc_resume = True
-    else:
-      if CS.car_follow == 0 and CS.cruise_state == 3 and CS.out.standstill and self.prev_cruise_state == 1:
-        self.manual_hold = True
+    if not CC.enabled or not CC.hudControl.leadVisible:
+      return throttle_cmd, speed_cmd
 
-      if not CS.out.standstill:
-        self.manual_hold = False
+    close_distance = CS.close_distance
+    if not CS.out.standstill:
+      self.last_standstill_frame = self.frame
 
-      trigger_resume = CC.enabled
-      trigger_resume &= CS.car_follow == 1
-      trigger_resume &= CS.close_distance > self.prev_close_distance
-      trigger_resume &= CS.cruise_state == 3
-      trigger_resume &= not self.manual_hold
-      trigger_resume &= _SNG_ACC_MIN_DIST < CS.close_distance < _SNG_ACC_MAX_DIST
+    standstill_timers = (0.75, 0.8) if self.CP.flags & SubaruFlags.PREGLOBAL else (0.5, 0.55)
+    standstill_duration = (self.frame - self.last_standstill_frame) * DT_CTRL
+    in_standstill_hold = standstill_duration > standstill_timers[0]
+    if standstill_duration >= standstill_timers[1]:
+      self.last_standstill_frame = self.frame
 
-      if trigger_resume:
-        self.sng_acc_resume = True
+    if manual_parking_brake or not (self.CP.flags & SubaruFlags.PREGLOBAL):
+      speed_cmd = in_standstill_hold
 
-      if CC.enabled and CS.car_follow == 1 and CS.out.standstill and self.frame > self.standstill_start + 50:
-        speed_cmd = True
+    should_resume = (
+      CS.out.standstill and
+      _SNG_ACC_MIN_DIST < close_distance < _SNG_ACC_MAX_DIST and
+      close_distance > self.prev_close_distance
+    )
+    if should_resume:
+      self.epb_resume_frames_remaining = 15
 
-      if CS.out.standstill and not self.prev_standstill:
-        self.standstill_start = self.frame
+    throttle_cmd = self.epb_resume_frames_remaining > 0
+    if self.epb_resume_frames_remaining > 0:
+      self.epb_resume_frames_remaining -= 1
 
-      self.prev_standstill = CS.out.standstill
-      self.prev_cruise_state = CS.cruise_state
-
-    if self.sng_acc_resume:
-      if self.sng_acc_resume_cnt < 5:
-        throttle_cmd = True
-        self.sng_acc_resume_cnt += 1
-      else:
-        self.sng_acc_resume = False
-        self.sng_acc_resume_cnt = -1
-
-    self.prev_close_distance = CS.close_distance
+    self.prev_close_distance = close_distance
     return throttle_cmd, speed_cmd

opendbc_repo/opendbc/car/subaru/subarucan.py

@@ -358,6 +358,19 @@ def create_brake_pedal(packer, frame, brake_pedal_msg, speed_cmd, brake_cmd):
   return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)
 
 
+def create_preglobal_brake_pedal(packer, brake_pedal_msg, speed_cmd):
+  values = {s: brake_pedal_msg[s] for s in sorted([
+    "Brake_Pedal",
+    "Signal1",
+    "Speed",
+  ])}
+
+  if speed_cmd:
+    values["Speed"] = 1
+
+  return packer.make_can_msg("Brake_Pedal", CanBus.camera, values)
+
+
 def create_throttle(packer, frame, throttle_msg, throttle_cmd):
   values = {s: throttle_msg[s] for s in sorted([
     "CHECKSUM",

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -1,4 +1,57 @@
+from types import SimpleNamespace
+
+from opendbc.car.subaru.carcontroller import CarController
 from opendbc.car.subaru.fingerprints import FW_VERSIONS
+from opendbc.car.subaru.values import SubaruFlags
+
+
+def make_sng_controller(flags=0, prev_close_distance=4.0):
+  controller = object.__new__(CarController)
+  controller.CP = SimpleNamespace(flags=flags)
+  controller.frame = 60
+  controller.last_standstill_frame = 0
+  controller.prev_close_distance = prev_close_distance
+  controller.epb_resume_frames_remaining = -1
+  return controller
+
+
+def make_sng_state(close_distance=4.0, standstill=True):
+  cc = SimpleNamespace(enabled=True, hudControl=SimpleNamespace(leadVisible=True))
+  cs = SimpleNamespace(
+    close_distance=close_distance,
+    out=SimpleNamespace(standstill=standstill),
+  )
+  return cc, cs
+
+
+def test_global_sng_keeps_standstill_alive_without_manual_parking_brake_toggle():
+  controller = make_sng_controller()
+  cc, cs = make_sng_state()
+
+  throttle_cmd, speed_cmd = controller.stop_and_go(cc, cs, manual_parking_brake=False)
+
+  assert throttle_cmd is False
+  assert speed_cmd is True
+
+
+def test_manual_parking_brake_sng_still_sends_resume_throttle():
+  controller = make_sng_controller(prev_close_distance=3.9)
+  cc, cs = make_sng_state(close_distance=4.0)
+
+  throttle_cmd, speed_cmd = controller.stop_and_go(cc, cs, manual_parking_brake=True)
+
+  assert throttle_cmd is True
+  assert speed_cmd is True
+
+
+def test_preglobal_sng_does_not_send_standstill_keepalive_without_manual_toggle():
+  controller = make_sng_controller(flags=SubaruFlags.PREGLOBAL)
+  cc, cs = make_sng_state()
+
+  throttle_cmd, speed_cmd = controller.stop_and_go(cc, cs, manual_parking_brake=False)
+
+  assert throttle_cmd is False
+  assert speed_cmd is False
 
 
 class TestSubaruFingerprint:

opendbc_repo/opendbc/car/subaru/values.py

@@ -59,6 +59,7 @@ class SubaruSafetyFlags(IntFlag):
   GEN2 = 1
   LONG = 2
   PREGLOBAL_REVERSED_DRIVER_TORQUE = 4
+  STOP_AND_GO = 8
 
 
 class SubaruFlags(IntFlag):

opendbc_repo/opendbc/car/tesla/preap/carstate.py

@@ -126,16 +126,16 @@ def update_preap(cs, can_parsers):
 
   cs.das_control = None
   cs.cruise_enabled_prev = ret.cruiseState.enabled
-  ret.pedalMaxRegen = cs.pccEvent == "pedalMaxRegen"
-  ret.teslaCCEngaged = cs.pccEvent == "teslaCCEngaged"
-  ret.teslaCCDisengaged = cs.pccEvent == "teslaCCDisengaged"
-  ret.teslaCCNotArmed = (
+  fp_ret.pedalMaxRegen = cs.pccEvent == "pedalMaxRegen"
+  fp_ret.teslaCCEngaged = cs.pccEvent == "teslaCCEngaged"
+  fp_ret.teslaCCDisengaged = cs.pccEvent == "teslaCCDisengaged"
+  fp_ret.teslaCCNotArmed = (
     not nap_conf.use_pedal and
     cs.cruiseEnabled and
     cs.enableLongControl and
     cs.di_cruise_state not in ("STANDBY", "ENABLED")
   )
-  ret.pedalLongActive = cs.enableLongControl and nap_conf.use_pedal
+  fp_ret.pedalLongActive = cs.enableLongControl and nap_conf.use_pedal
   return ret, fp_ret
 
 

opendbc_repo/opendbc/car/tesla/preap/interface.py

@@ -7,6 +7,7 @@ from opendbc.car.tesla.preap.nap_conf import nap_conf
 PREAP_FLAG_ENABLE_PEDAL = 1
 PREAP_FLAG_RADAR_EMULATION = 2
 PREAP_FLAG_RADAR_BEHIND_NOSECONE = 4
+SAFETY_TESLA_PREAP = 35
 
 
 def get_preap_accel_limits(current_speed: float) -> tuple[float, float]:
@@ -29,7 +30,7 @@ def get_preap_params(ret: structs.CarParams) -> structs.CarParams:
     safety_flags |= PREAP_FLAG_RADAR_BEHIND_NOSECONE
 
   use_pedal = nap_conf.use_pedal and nap_conf.pedal_calibrated
-  ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.teslaPreap, safety_flags)]
+  ret.safetyConfigs = [get_safety_config(SAFETY_TESLA_PREAP, safety_flags)]
   ret.radarUnavailable = not nap_conf.radar_enabled
   ret.steerControlType = structs.CarParams.SteerControlType.angle
   ret.openpilotLongitudinalControl = use_pedal

opendbc_repo/opendbc/car/tests/routes.py

@@ -22,12 +22,14 @@ non_tested_cars = [
   MOCK.MOCK,
   GM.CADILLAC_ATS,
   GM.CADILLAC_ESCALADE_ASCM,
+  GM.CADILLAC_ESCALADE_ESV_2019_ASCM,
   GM.CADILLAC_XT5,
   GM.HOLDEN_ASTRA,
   GM.CHEVROLET_MALIBU,
   HYUNDAI.GENESIS_G90,
   HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
   HYUNDAI.GENESIS_GV80_2025,
+  HYUNDAI.HYUNDAI_AZERA_HEV_7TH_GEN,
   HYUNDAI.HYUNDAI_IONIQ_5_PE,
   HYUNDAI.HYUNDAI_IONIQ_5_N,
   HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
@@ -163,6 +165,7 @@ routes = [
   CarTestRoute("de59124955b921d8/2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
   CarTestRoute("409c9409979a8abc/2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN),  # Chinese model
   CarTestRoute("e0e98335f3ebc58f/2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
+  CarTestRoute("22703002ddbe2a08/0000000e--083b76c42c", HYUNDAI.KIA_XCEED_PHEV, segment=0),
   CarTestRoute("7653b2bce7bcfdaa/2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
   CarTestRoute("018654717bc93d7d/2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
   CarTestRoute("f9716670b2481438/2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),

opendbc_repo/opendbc/car/tests/test_can_fingerprint.py

@@ -4,9 +4,17 @@ import pytest
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, _apply_starpilot_access_policy, _get_gm_stored_candidate_fallback, can_fingerprint
 from opendbc.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
+from opendbc.car.gm.values import CAR as GM
 
 
 class TestCanFingerprint:
+  @staticmethod
+  def _fingerprint_from_can(fingerprint):
+    can = [CanData(address=address, dat=b'\x00' * length, src=src)
+           for address, length in fingerprint.items() for src in (0, 1)]
+    fingerprint_iter = iter([can])
+    return can_fingerprint(lambda **kwargs: [next(fingerprint_iter, [])])  # noqa: B023
+
   @pytest.mark.parametrize("car_model, fingerprints", FINGERPRINTS.items())
   def test_can_fingerprint(self, car_model, fingerprints):
     """Tests online fingerprinting function on offline fingerprints"""
@@ -23,6 +31,12 @@ class TestCanFingerprint:
       assert finger[1] == fingerprint
       assert finger[2] == {}
 
+  def test_gm_sascm_superset_fingerprint_matches_ascm_variant(self):
+    car_fingerprint, finger = self._fingerprint_from_can(FINGERPRINTS[GM.CADILLAC_ESCALADE_ESV_2019_ASCM][0])
+
+    assert car_fingerprint == GM.CADILLAC_ESCALADE_ESV_2019_ASCM
+    assert finger[0][0x2FF] == 8
+
   def test_timing(self, subtests):
     # just pick any CAN fingerprinting car
     car_model = "CHEVROLET_BOLT_ACC_2022_2023"

opendbc_repo/opendbc/car/tests/test_car_interfaces.py

@@ -8,9 +8,13 @@ from collections.abc import Callable
 from typing import Any
 
 from cereal import custom
-from opendbc.car import DT_CTRL, CanData, structs
+from opendbc.can import CANParser
+from opendbc.car import Bus, DT_CTRL, CanData, structs
 from opendbc.car.car_helpers import _apply_disable_openpilot_long, interfaces
+from opendbc.car.chrysler.carcontroller import CarController as ChryslerCarController
 from opendbc.car.chrysler.carstate import CarState as ChryslerCarState
+from opendbc.car.chrysler.interface import CarInterface as ChryslerCarInterface
+from opendbc.car.chrysler.values import CAR as CHRYSLER_CAR, DBC as CHRYSLER_DBC, ChryslerStarPilotFlags
 from opendbc.car.fingerprints import FW_VERSIONS
 from opendbc.car.fw_versions import FW_QUERY_CONFIGS
 from opendbc.car.hyundai.interface import CarInterface as HyundaiCarInterface
@@ -74,6 +78,7 @@ def get_test_starpilot_toggles() -> SimpleNamespace:
     reverse_cruise_increase=False,
     sng_hack=False,
     subaru_sng=False,
+    subaru_sng_manual_parking_brake=False,
     unlock_doors=False,
     vEgoStopping=0.5,
     volt_sng=False,
@@ -160,6 +165,53 @@ class TestCarInterfaces:
       "Center_Stack_2": {"LKAS_Button": 1},
     }, is_ram=True)
 
+  def test_chrysler_wd_mod_enables_steer_to_zero(self):
+    fingerprint = {bus: {} for bus in range(8)}
+    fingerprint[0][0x4FF] = 8
+    toggles = get_test_starpilot_toggles()
+
+    car_params = ChryslerCarInterface.get_params(
+      CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=toggles,
+    )
+    assert car_params.minSteerSpeed > 0.
+
+    fp_car_params = ChryslerCarInterface.get_starpilot_params(
+      CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+      fingerprint,
+      [],
+      car_params,
+      toggles,
+    )
+    assert fp_car_params.flags & ChryslerStarPilotFlags.NO_MIN_STEERING_SPEED
+    assert car_params.minSteerSpeed == 0.
+
+    controller = ChryslerCarController({Bus.pt: CHRYSLER_DBC[car_params.carFingerprint][Bus.pt]}, car_params)
+    controller.FPCP = fp_car_params
+    controller.frame = 202
+
+    CC = structs.CarControl()
+    CC.latActive = True
+    CC.actuators.torque = 0.1
+    CC = CC.as_reader()
+    CS = SimpleNamespace(
+      out=SimpleNamespace(vEgo=0.0, steeringTorqueEps=0.0, gearShifter=structs.CarState.GearShifter.drive),
+      lkas_car_model=-1,
+      button_counter=0,
+      button_message="CRUISE_BUTTONS",
+      auto_high_beam=0,
+    )
+    _, can_sends = controller.update(CC, CS, 0, toggles)
+
+    lkas_parser = CANParser(CHRYSLER_DBC[car_params.carFingerprint][Bus.pt], [("LKAS_COMMAND", 50)], 0)
+    lkas_parser.update([0, can_sends])
+    assert lkas_parser.vl["LKAS_COMMAND"]["LKAS_CONTROL_BIT"] == 1
+
   def test_gm_bolt_gen2_pedal_safety_flags(self):
     CarInterface = interfaces[GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL]
 

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -17,6 +17,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 
 # Toyota LTA also has torque
 "TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan]
+"TOYOTA_MATRIX_RETROFIT" = [4.05, 1.84, 0.10]
 
 # Tesla angle based controllers
 "TESLA_MODEL_3" = [nan, 2.5, nan]
@@ -74,6 +75,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_TUCSON_HEV_2025" = [2.5, 2.5, 0.1]
 "HYUNDAI_TUCSON_PHEV_2025" = [2.5, 2.5, 0.1]
 "KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
+"KIA_XCEED_PHEV" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
 "KIA_SPORTAGE_2026" = [nan, 2.5, nan]
 "KIA_SPORTAGE_HEV_2026" = [nan, 2.5, nan]
 "GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
@@ -96,6 +98,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_IONIQ_9" = [nan, 2.5, nan]
 "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
 "HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
+"HYUNDAI_AZERA_HEV_7TH_GEN" = [nan, 2.5, nan]
 "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
 "KIA_K4_2025" = [2.5, 2.5, 0.1]
 "KIA_K5_2025" = [2.5, 2.5, 0.1]

opendbc_repo/opendbc/car/torque_data/substitute.toml

@@ -65,9 +65,11 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_E" = "HONDA_CIVIC_BOSCH"
 
 "BUICK_LACROSSE" = "CHEVROLET_VOLT"
+"BUICK_LACROSSE_ASCM" = "CHEVROLET_VOLT"
 "BUICK_REGAL" = "CHEVROLET_VOLT"
 "CADILLAC_ESCALADE_ASCM" = "CADILLAC_ESCALADE"
 "CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
+"CADILLAC_ESCALADE_ESV_2019_ASCM" = "CADILLAC_ESCALADE_ESV_2019"
 "CADILLAC_ATS" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU_ASCM" = "CHEVROLET_VOLT"

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -25,7 +25,8 @@ ACCEL_WINDUP_LIMIT = 4.0 * DT_CTRL * 3  # m/s^2 / frame
 ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3  # m/s^2 / frame
 ACCEL_PID_UNWIND = 0.03 * DT_CTRL * 3  # m/s^2 / frame
 PRIUS_INTEGRAL_MISMATCH_UNWIND = 8.0
-PRIUS_POSITIVE_FEEDFORWARD_SCALE = 0.5
+PRIUS_POSITIVE_FEEDFORWARD_SCALE = 0.7
+PRIUS_CRUISE_FEEDFORWARD_SCALE = 0.85
 
 MAX_PITCH_COMPENSATION = 1.5  # m/s^2
 TOYOTA_COAST_BRAKE_MIN_SPEED = 15.0  # m/s
@@ -43,6 +44,7 @@ MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
 MAX_USER_TORQUE = 500
 
 PARK = structs.CarState.GearShifter.park
+REVERSE = structs.CarState.GearShifter.reverse
 
 # Lock / unlock door commands - Credit goes to AlexandreSato!
 LOCK_CMD = b"\x40\x05\x30\x11\x00\x80\x00\x00"
@@ -65,6 +67,11 @@ def get_long_tune(CP, params):
                        rate=1 / (DT_CTRL * 3))
 
 
+def get_prius_positive_feedforward_scale(v_ego: float) -> float:
+  return float(np.interp(v_ego, [0.0, 8.0, 20.0],
+                         [PRIUS_POSITIVE_FEEDFORWARD_SCALE, PRIUS_POSITIVE_FEEDFORWARD_SCALE, PRIUS_CRUISE_FEEDFORWARD_SCALE]))
+
+
 def update_permit_braking(current: bool, net_acceleration_request_min: float, stopping: bool,
                           long_active: bool, v_ego: float, lead_visible: bool) -> bool:
   if stopping or not long_active:
@@ -142,6 +149,25 @@ def limit_interceptor_stopping_accel(pcm_accel_cmd: float, target_accel: float,
   return max(pcm_accel_cmd, max(stop_floor, planner_floor))
 
 
+def limit_prius_stopping_accel(pcm_accel_cmd: float, target_accel: float, stopping: bool, v_ego: float, lead_visible: bool) -> float:
+  if not stopping or pcm_accel_cmd >= 0.0 or v_ego >= 1.5:
+    return pcm_accel_cmd
+
+  # Prius can hold onto a stale full negative stop command at standstill even after the
+  # planner has already softened. Keep enough brake to hold the stop, but let the command
+  # unwind toward the live planner target so launches are not delayed and stop transitions
+  # are less abrupt.
+  if target_accel <= -1.8:
+    return pcm_accel_cmd
+
+  stop_floor = float(np.interp(v_ego,
+                               [0.0, 0.2, 0.5, 0.9, 1.5],
+                               [-0.96, -1.00, -1.08, -1.18, -1.35] if lead_visible else [-0.84, -0.88, -0.96, -1.08, -1.24]))
+  target_buffer = float(np.interp(v_ego, [0.0, 0.5, 1.5], [0.06, 0.10, 0.16]))
+  planner_floor = float(target_accel) - target_buffer
+  return max(pcm_accel_cmd, max(stop_floor, planner_floor))
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -173,18 +199,23 @@ class CarController(CarControllerBase):
     self.secoc_prev_reset_counter = 0
 
     self.doors_locked = False
+    self.auto_brake_hold = bool(self.CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value)
+    self.brake_hold_active = False
+    self._brake_hold_counter = 0
+    self._brake_hold_reset = False
+    self._prev_brake_pressed = False
 
   def _compute_interceptor_gas_cmd(self, CC, CS):
     if not (self.CP.enableGasInterceptorDEPRECATED and self.CP.openpilotLongitudinalControl and CC.longActive):
       return 0.0
 
-    if self.CP.minEnableSpeed < 0.0:
-      return 0.12 if CS.out.standstill and self.accel > 0.0 else 0.0
+    if CS.out.standstill:
+      return 0.12 if self.accel > 0.0 else 0.0
 
     max_interceptor_gas = 0.5
     if self.CP.carFingerprint == CAR.TOYOTA_RAV4:
       pedal_scale = float(np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0]))
-    elif self.CP.carFingerprint == CAR.TOYOTA_COROLLA:
+    elif self.CP.carFingerprint in (CAR.TOYOTA_COROLLA, CAR.TOYOTA_MATRIX_RETROFIT):
       pedal_scale = float(np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0]))
     else:
       pedal_scale = float(np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0]))
@@ -218,6 +249,27 @@ class CarController(CarControllerBase):
 
     self.last_standstill = CS.out.standstill
 
+  def create_auto_brake_hold_messages(self, CS: structs.CarState, brake_hold_allowed_timer: int = 100):
+    can_sends = []
+    brake_hold_allowed = (CS.out.standstill and CS.out.cruiseState.available and
+                          not CS.out.gasPressed and not CS.out.cruiseState.enabled and
+                          CS.out.gearShifter not in (PARK, REVERSE))
+
+    if brake_hold_allowed:
+      self._brake_hold_counter += 1
+      self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer and not self._brake_hold_reset
+      self._brake_hold_reset = not self._prev_brake_pressed and CS.out.brakePressed and not self._brake_hold_reset
+    else:
+      self._brake_hold_counter = 0
+      self.brake_hold_active = False
+      self._brake_hold_reset = False
+    self._prev_brake_pressed = CS.out.brakePressed
+
+    if self.frame % 2 == 0:
+      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
+
+    return can_sends
+
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
     stopping = actuators.longControlState == LongCtrlState.stopping
@@ -311,6 +363,9 @@ class CarController(CarControllerBase):
     # *** gas and brake ***
 
     self._update_standstill_request(CC, CS, actuators, starpilot_toggles)
+    if self.auto_brake_hold:
+      can_sends.extend(self.create_auto_brake_hold_messages(CS))
+
     interceptor_gas_cmd = self._compute_interceptor_gas_cmd(CC, CS)
 
     # handle UI messages
@@ -386,9 +441,8 @@ class CarController(CarControllerBase):
 
             feedforward = pcm_accel_cmd
             if self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
-              # Keep Prius positive handoffs softer than the stock tune, while restoring some launch authority.
               if feedforward > 0.0:
-                feedforward *= PRIUS_POSITIVE_FEEDFORWARD_SCALE
+                feedforward *= get_prius_positive_feedforward_scale(CS.out.vEgo)
 
             pcm_accel_cmd = self.long_pid.update(error_future,
                                                  speed=CS.out.vEgo,
@@ -410,6 +464,8 @@ class CarController(CarControllerBase):
         if self.CP.enableGasInterceptorDEPRECATED:
           pcm_accel_cmd = limit_interceptor_pcm_accel(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo)
           pcm_accel_cmd = limit_interceptor_stopping_accel(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo, bool(hud_control.leadVisible))
+        elif self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
+          pcm_accel_cmd = limit_prius_stopping_accel(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo, lead)
 
         pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
 

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -80,6 +80,8 @@ class CarState(CarStateBase):
     self.has_can_filter = self.FPCP.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
     self.has_SDSU = self.FPCP.flags & ToyotaStarPilotFlags.SMART_DSU.value
     self.has_ZSS = self.FPCP.flags & ToyotaStarPilotFlags.ZSS.value
+    self.auto_brake_hold = bool(self.CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value)
+    self.pre_collision_2 = {}
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -211,6 +213,9 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
+    if self.auto_brake_hold:
+      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
+
     if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
       self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 

opendbc_repo/opendbc/car/toyota/fingerprints.py

@@ -4,6 +4,10 @@ from opendbc.car.toyota.values import CAR
 
 Ecu = CarParams.Ecu
 
+FINGERPRINTS = {
+  CAR.TOYOTA_MATRIX_RETROFIT: [{}],
+}
+
 FW_VERSIONS = {
   CAR.TOYOTA_AVALON: {
     (Ecu.abs, 0x7b0, None): [

opendbc_repo/opendbc/car/toyota/interface.py

@@ -2,11 +2,13 @@ from opendbc.car import Bus, structs, get_safety_config, uds
 from opendbc.car.toyota.carstate import CarState
 from opendbc.car.toyota.carcontroller import CarController
 from opendbc.car.toyota.radar_interface import RadarInterface
-from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
+from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, SECOC_CAR, NO_DSU_CAR, \
                                                   MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
                                                   ToyotaSafetyFlags
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
+from openpilot.common.params import Params
 
 SteerControlType = structs.CarParams.SteerControlType
 
@@ -66,10 +68,11 @@ class CarInterface(CarInterfaceBase):
 
     if candidate == CAR.TOYOTA_PRIUS:
       stop_and_go = True
+      ret.flags |= ToyotaFlags.HYBRID.value
       # Only give steer angle deadzone to for bad angle sensor prius
       for fw in car_fw:
         if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
-          ret.steerActuatorDelay = 0.25
+          ret.steerActuatorDelay = 0.14
           CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.3)
 
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
@@ -137,6 +140,13 @@ class CarInterface(CarInterfaceBase):
 
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
     ret.enableGasInterceptorDEPRECATED = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
+    if ret.enableGasInterceptorDEPRECATED:
+      ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.GAS_INTERCEPTOR.value
+
+    toyota_auto_hold = Params(return_defaults=True).get_bool("ToyotaAutoHold")
+    if toyota_auto_hold and candidate in (TSS2_CAR - RADAR_ACC_CAR - SECOC_CAR):
+      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+      ret.flags |= ToyotaFlags.AUTO_BRAKE_HOLD.value
 
     if not ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
@@ -145,7 +155,9 @@ class CarInterface(CarInterfaceBase):
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptorDEPRECATED) else MIN_ACC_SPEED
 
-    if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
+    prius_long_defaults = candidate == CAR.TOYOTA_PRIUS and ret.openpilotLongitudinalControl
+
+    if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED or prius_long_defaults:
       ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
 
       ret.vEgoStopping = 0.25

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -2,18 +2,21 @@ from types import SimpleNamespace
 
 from hypothesis import given, settings, strategies as st
 
-from opendbc.car import Bus
+from opendbc.car import Bus, structs
 from opendbc.can import CANPacker, CANParser
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
 from opendbc.car.toyota import toyotacan
-from opendbc.car.toyota.carcontroller import CarController, limit_interceptor_pcm_accel, limit_interceptor_stopping_accel, update_permit_braking
+from opendbc.car.toyota.carcontroller import CarController, get_prius_positive_feedforward_scale, limit_interceptor_pcm_accel, \
+                                             limit_interceptor_stopping_accel, limit_prius_stopping_accel, update_permit_braking
 from opendbc.car.toyota.carstate import calculate_interceptor_gas_pressed
 from opendbc.car.toyota.fingerprints import FW_VERSIONS
 from opendbc.car.toyota.interface import CarInterface
 from opendbc.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, SECOC_CAR, \
                                                   FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
-                                                  get_platform_codes
+                                                  ToyotaFlags, ToyotaSafetyFlags, get_platform_codes
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
+from openpilot.common.params import Params
 
 Ecu = CarParams.Ecu
 
@@ -39,6 +42,43 @@ class TestToyotaInterfaces:
       if car_model in TSS2_CAR and car_model not in SECOC_CAR:
         assert dbc[Bus.pt] == "toyota_nodsu_pt_generated"
 
+  def test_auto_hold_sets_flag_on_supported_tss2(self):
+    params = Params()
+    try:
+      params.put_bool("ToyotaAutoHold", True)
+      car_params = CarInterface.get_params(
+        CAR.TOYOTA_CAMRY_TSS2,
+        {bus: {} for bus in range(8)},
+        [],
+        alpha_long=False,
+        is_release=False,
+        docs=False,
+        starpilot_toggles=SimpleNamespace(),
+      )
+    finally:
+      params.remove("ToyotaAutoHold")
+
+    assert car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
+    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+
+  def test_prius_openpilot_long_uses_hybrid_long_defaults(self):
+    car_params = CarInterface.get_params(
+      CAR.TOYOTA_PRIUS,
+      {0: {0x2FF: 8}},
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=SimpleNamespace(),
+    )
+
+    assert car_params.openpilotLongitudinalControl
+    assert car_params.flags & ToyotaFlags.HYBRID.value
+    assert car_params.flags & ToyotaFlags.RAISED_ACCEL_LIMIT.value
+    assert abs(car_params.longitudinalActuatorDelay - 0.05) < 1e-6
+    assert abs(car_params.vEgoStopping - 0.25) < 1e-6
+    assert abs(car_params.vEgoStarting - 0.25) < 1e-6
+
   def test_essential_ecus(self, subtests):
     # Asserts standard ECUs exist for each platform
     common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
@@ -252,6 +292,22 @@ class TestToyotaCarController:
     assert update_permit_braking(False, 0.10, True, True, 25.0, False) is True
     assert update_permit_braking(False, 0.10, False, False, 25.0, False) is True
 
+  def test_prius_stopping_accel_unwinds_stale_stop_hold(self):
+    limited = limit_prius_stopping_accel(-3.28, -0.05, True, 0.0, True)
+    assert -1.5 < limited < 0.0
+
+  def test_prius_stopping_accel_keeps_hard_stop_commands(self):
+    limited = limit_prius_stopping_accel(-3.28, -2.0, True, 0.0, True)
+    assert limited == -3.28
+
+  def test_prius_positive_feedforward_scale_stays_soft_at_launch_speed(self):
+    assert abs(get_prius_positive_feedforward_scale(0.0) - 0.7) < 1e-6
+    assert abs(get_prius_positive_feedforward_scale(8.0) - 0.7) < 1e-6
+
+  def test_prius_positive_feedforward_scale_restores_cruise_authority(self):
+    assert get_prius_positive_feedforward_scale(20.0) > get_prius_positive_feedforward_scale(8.0)
+    assert abs(get_prius_positive_feedforward_scale(20.0) - 0.85) < 1e-6
+
   def test_sng_hack_clears_existing_standstill_latch(self):
     controller = self._make_controller(standstill_req=True, last_standstill=True)
 
@@ -288,6 +344,33 @@ class TestToyotaCarController:
     assert parser.vl["LKAS_HUD"]["LEFT_LINE"] == 0
     assert parser.vl["LKAS_HUD"]["RIGHT_LINE"] == 0
 
+  def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
+    controller = self._make_controller()
+    controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
+    controller.frame = 0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
+    controller._brake_hold_reset = False
+    controller._prev_brake_pressed = False
+    cs = SimpleNamespace(
+      out=SimpleNamespace(
+        standstill=True,
+        cruiseState=SimpleNamespace(available=True, enabled=False),
+        gasPressed=False,
+        brakePressed=False,
+        gearShifter=structs.CarState.GearShifter.drive,
+      ),
+      pre_collision_2={},
+    )
+
+    can_sends = controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+
+    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("PRE_COLLISION_2", 0)], 0)
+    parser.update([(1, can_sends)])
+    assert controller.brake_hold_active
+    assert parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
+    assert parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 1
+
   def test_interceptor_stop_and_go_holds_small_launch_at_standstill(self):
     controller = self._make_controller()
     controller.CP.enableGasInterceptorDEPRECATED = True
@@ -314,6 +397,20 @@ class TestToyotaCarController:
 
     assert 0.0 < gas_cmd <= 0.5
 
+  def test_interceptor_corolla_scales_with_accel_request_when_pedal_enables_sng(self):
+    controller = self._make_controller()
+    controller.CP.enableGasInterceptorDEPRECATED = True
+    controller.CP.carFingerprint = CAR.TOYOTA_COROLLA
+    controller.CP.minEnableSpeed = -1.0
+    controller.accel = 0.8
+
+    gas_cmd = controller._compute_interceptor_gas_cmd(
+      SimpleNamespace(longActive=True),
+      SimpleNamespace(out=SimpleNamespace(standstill=False, vEgo=8.0)),
+    )
+
+    assert 0.0 < gas_cmd <= 0.5
+
   def test_interceptor_disabled_returns_zero(self):
     controller = self._make_controller()
     controller.accel = 1.0
@@ -392,6 +489,7 @@ class TestToyotaCarController:
     )
 
     assert CP.enableGasInterceptorDEPRECATED
+    assert CP.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.GAS_INTERCEPTOR
     assert abs(CP.longitudinalActuatorDelay - 0.2) < 1e-6
     assert CP.stopAccel == -1.5
 

opendbc_repo/opendbc/car/toyota/toyotacan.py

@@ -86,6 +86,38 @@ def create_pcs_commands(packer, accel, active, mass):
   return [msg1, msg2]
 
 
+def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
+  values = {s: pre_collision_2[s] for s in [
+    "DSS1GDRV",
+    "DS1STAT2",
+    "DS1STBK2",
+    "PCSWAR",
+    "PCSALM",
+    "PCSOPR",
+    "PCSABK",
+    "PBATRGR",
+    "PPTRGR",
+    "IBTRGR",
+    "CLEXTRGR",
+    "IRLT_REQ",
+    "BRKHLD",
+    "AVSTRGR",
+    "VGRSTRGR",
+    "PREFILL",
+    "PBRTRGR",
+    "PCSDIS",
+    "PBPREPMP",
+  ] if s in pre_collision_2}
+
+  if brake_hold_active:
+    values = {
+      "DSS1GDRV": 0x3FF,
+      "PBRTRGR": frame % 730 < 727,
+    }
+
+  return packer.make_can_msg("PRE_COLLISION_2", 0, values)
+
+
 def create_acc_cancel_command(packer):
   values = {
     "GAS_RELEASED": 0,

opendbc_repo/opendbc/car/toyota/values.py

@@ -57,6 +57,7 @@ class ToyotaSafetyFlags(IntFlag):
   LTA = (4 << 8)
   SECOC = (8 << 8)
   LONG_FILTER = (16 << 8)
+  GAS_INTERCEPTOR = (32 << 8)
 
 
 class ToyotaFlags(IntFlag):
@@ -75,6 +76,7 @@ class ToyotaFlags(IntFlag):
   # these cars can utilize 2.0 m/s^2
   RAISED_ACCEL_LIMIT = 1024
   SECOC = 2048
+  AUTO_BRAKE_HOLD = 4096
 
   # deprecated flags
   # these cars are speculated to allow stop and go when the DSU is unplugged
@@ -201,6 +203,11 @@ class CAR(Platforms):
     CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   )
+  TOYOTA_MATRIX_RETROFIT = PlatformConfig(
+    [ToyotaCommunityCarDocs("Toyota Matrix 2005 Retrofit", package="Custom retrofit")],
+    TOYOTA_COROLLA.specs,
+    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
+  )
   # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
   TOYOTA_COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
     [
@@ -548,7 +555,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ],
   non_essential_ecus={
     # FIXME: On some models, abs can sometimes be missing
-    Ecu.abs: [CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_IS, CAR.TOYOTA_ALPHARD_TSS2],
+    Ecu.abs: [CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_MATRIX_RETROFIT, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_IS, CAR.TOYOTA_ALPHARD_TSS2],
     # On some models, the engine can show on two different addresses
     Ecu.engine: [CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_CAMRY, CAR.TOYOTA_COROLLA_TSS2, CAR.TOYOTA_CHR, CAR.TOYOTA_CHR_TSS2, CAR.LEXUS_IS,
                  CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
@@ -589,7 +596,8 @@ STEER_THRESHOLD = 100
 
 # These cars have non-standard EPS torque scale factors. All others are 73
 EPS_SCALE = defaultdict(lambda: 73,
-                        {CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100})
+                        {CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.TOYOTA_MATRIX_RETROFIT: 88,
+                         CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)

opendbc_repo/opendbc/dbc/generator/chrysler/.gitignore

@@ -1 +0,0 @@
-_*generated.dbc

opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common_ram_dt_generated.dbc

@@ -0,0 +1,189 @@
+CM_ "Generated from _stellantis_common.dbc"
+
+BO_ 35 STEERING: 8 XXX
+ SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX
+ SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX
+ SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 37 ECM_1: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 181 ECM_TRQ: 8 XXX
+ SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+ SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+
+BO_ 121 ESP_8: 8 XXX
+ SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 123 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 131 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
+ SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 113 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 139 ESP_6: 8 XXX
+ SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_MOVING_1 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_MOVING_2 : 54|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 147 Transmission_Status: 8 XXX
+ SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 464 ORC_1: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 153 DAS_3: 8 XXX
+ SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] ""  XXX
+ SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
+ SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
+ SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 232 DAS_4: 8 XXX
+ SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
+ SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
+ SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 49 EPS_2: 8 XXX
+ SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
+ SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
+ SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 157 ECM_5: 8 XXX
+ SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 177 CRUISE_BUTTONS: 3 XXX
+ SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 163 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 213 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 250 DAS_6: 8 XXX
+ SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
+
+BO_ 720 BSM_1: 6 XXX
+ SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 792 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 657 BCM_1: 8 XXX
+ SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 131 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
+VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 213 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;
+
+CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
+CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
+CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
+CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
+CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
+CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";

opendbc_repo/opendbc/dbc/generator/chrysler/_stellantis_common_ram_hd_generated.dbc

@@ -0,0 +1,189 @@
+CM_ "Generated from _stellantis_common.dbc"
+
+BO_ 258 STEERING: 8 XXX
+ SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX
+ SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX
+ SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 264 ECM_1: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 280 ECM_TRQ: 8 XXX
+ SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+ SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
+
+BO_ 284 ESP_8: 8 XXX
+ SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 288 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
+ SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 268 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 344 ESP_6: 8 XXX
+ SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_MOVING_1 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
+ SG_ WHEEL_MOVING_2 : 54|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 368 Transmission_Status: 8 XXX
+ SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 464 ORC_1: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 500 DAS_3: 8 XXX
+ SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] ""  XXX
+ SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
+ SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
+ SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 501 DAS_4: 8 XXX
+ SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
+ SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
+ SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 544 EPS_2: 8 XXX
+ SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
+ SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
+ SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 559 ECM_5: 8 XXX
+ SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 570 CRUISE_BUTTONS: 3 XXX
+ SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 669 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 629 DAS_6: 8 XXX
+ SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
+
+BO_ 720 BSM_1: 6 XXX
+ SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 792 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 820 BCM_1: 8 XXX
+ SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
+VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;
+
+CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
+CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
+CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
+CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
+CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
+CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";

opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc

@@ -62,6 +62,12 @@ VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
 
 BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
  SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
+ SG_ Byte1 : 15|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte2 : 23|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte3 : 31|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte4 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte5 : 47|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte6 : 55|8@0+ (1,0) [0|255] ""  NEO
 
 BO_ 190 ECMAcceleratorPos: 6 K20_ECM
  SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
@@ -146,6 +152,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCButtonsHard : 26|2@0+ (1,0) [0|3] "" XXX
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
  SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
@@ -173,9 +180,14 @@ BO_ 500 SportMode: 6 XXX
  SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 501 ECMPRDNL2: 8 K20_ECM
+ SG_ Byte0 : 7|8@0+ (1,0) [0|255] "" NEO
+ SG_ Byte1 : 15|8@0+ (1,0) [0|255] "" NEO
+ SG_ Byte2 : 23|8@0+ (1,0) [0|255] "" NEO
  SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
  SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
+ SG_ Byte4 : 39|8@0+ (1,0) [0|255] "" NEO
  SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
+ SG_ Byte7 : 63|8@0+ (1,0) [0|255] "" NEO
 
 BO_ 532 BRAKE_RELATED: 6 XXX
  SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX

opendbc_repo/opendbc/dbc/generator/hyundai/.gitignore

@@ -1,2 +0,0 @@
-hyundai_kia_mando_front_radar.dbc
-hyundai_kia_mando_corner_radar.dbc

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_corner_radar.dbc

@@ -0,0 +1,371 @@
+
+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_ 256 RADAR_POINTS_METADATA_0x100: 64 RADAR
+ SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
+ SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
+ SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
+ SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
+ SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
+ SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
+ SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
+ SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
+ SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
+ SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
+ SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
+ SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
+ SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
+ SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
+ SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
+ SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
+ SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
+ SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
+ SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
+ SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
+ SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 512 RADAR_POINTS_METADATA_0x200: 64 RADAR
+ SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
+ SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
+ SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
+ SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
+ SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
+ SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
+ SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
+ SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
+ SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
+ SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
+ SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
+ SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
+ SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
+ SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
+ SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
+ SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
+ SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
+ SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
+ SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
+ SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
+ SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
+ SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
+ SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
+ SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
+ SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
+ SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
+ SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
+ SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 257 RADAR_POINTS_0x101: 64 RADAR
+ SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
+ SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 513 RADAR_POINTS_0x201: 64 RADAR
+ SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
+ SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX
+ SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
+ SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
+ SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX
+ SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
+ SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX
+ SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX
+ SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX
+ SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX
+ SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX
+ SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 260 RADAR_POINTS_CHECKSUM_0x104: 3 RADAR
+ SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX
+
+BO_ 516 RADAR_POINTS_CHECKSUM_0x204: 3 RADAR
+ SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_kia_mando_front_radar.dbc

@@ -0,0 +1,422 @@
+
+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_ 1280 RADAR_TRACK_500: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1281 RADAR_TRACK_501: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1282 RADAR_TRACK_502: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1283 RADAR_TRACK_503: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1284 RADAR_TRACK_504: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1285 RADAR_TRACK_505: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1286 RADAR_TRACK_506: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1287 RADAR_TRACK_507: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1288 RADAR_TRACK_508: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1289 RADAR_TRACK_509: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1290 RADAR_TRACK_50a: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1291 RADAR_TRACK_50b: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1292 RADAR_TRACK_50c: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1293 RADAR_TRACK_50d: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1294 RADAR_TRACK_50e: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1295 RADAR_TRACK_50f: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1296 RADAR_TRACK_510: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1297 RADAR_TRACK_511: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1298 RADAR_TRACK_512: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1299 RADAR_TRACK_513: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1300 RADAR_TRACK_514: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1301 RADAR_TRACK_515: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1302 RADAR_TRACK_516: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1303 RADAR_TRACK_517: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1304 RADAR_TRACK_518: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1305 RADAR_TRACK_519: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1306 RADAR_TRACK_51a: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1307 RADAR_TRACK_51b: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1308 RADAR_TRACK_51c: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1309 RADAR_TRACK_51d: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1310 RADAR_TRACK_51e: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    
+BO_ 1311 RADAR_TRACK_51f: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+    

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrr30_radar.dbc

@@ -0,0 +1,421 @@
+
+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_ 528 RADAR_TRACK_210: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 529 RADAR_TRACK_211: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 530 RADAR_TRACK_212: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 531 RADAR_TRACK_213: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 532 RADAR_TRACK_214: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 533 RADAR_TRACK_215: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 534 RADAR_TRACK_216: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 535 RADAR_TRACK_217: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 536 RADAR_TRACK_218: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 537 RADAR_TRACK_219: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 538 RADAR_TRACK_21a: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 539 RADAR_TRACK_21b: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 540 RADAR_TRACK_21c: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 541 RADAR_TRACK_21d: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 542 RADAR_TRACK_21e: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 543 RADAR_TRACK_21f: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrr35_radar.dbc

@@ -0,0 +1,997 @@
+
+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_ 933 RADAR_TRACK_3a5: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 934 RADAR_TRACK_3a6: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 935 RADAR_TRACK_3a7: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 936 RADAR_TRACK_3a8: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 937 RADAR_TRACK_3a9: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 938 RADAR_TRACK_3aa: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 939 RADAR_TRACK_3ab: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 940 RADAR_TRACK_3ac: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 941 RADAR_TRACK_3ad: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 942 RADAR_TRACK_3ae: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 943 RADAR_TRACK_3af: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 944 RADAR_TRACK_3b0: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 945 RADAR_TRACK_3b1: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 946 RADAR_TRACK_3b2: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 947 RADAR_TRACK_3b3: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 948 RADAR_TRACK_3b4: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 949 RADAR_TRACK_3b5: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 950 RADAR_TRACK_3b6: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 951 RADAR_TRACK_3b7: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 952 RADAR_TRACK_3b8: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 953 RADAR_TRACK_3b9: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 954 RADAR_TRACK_3ba: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 955 RADAR_TRACK_3bb: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 956 RADAR_TRACK_3bc: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 957 RADAR_TRACK_3bd: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 958 RADAR_TRACK_3be: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 959 RADAR_TRACK_3bf: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 960 RADAR_TRACK_3c0: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 961 RADAR_TRACK_3c1: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 962 RADAR_TRACK_3c2: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 963 RADAR_TRACK_3c3: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 964 RADAR_TRACK_3c4: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrrevo14f_radar.dbc

@@ -0,0 +1,251 @@
+
+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_ 1537 RADAR_LEAD: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1538 RADAR_TRACK_602: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1539 RADAR_TRACK_603: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1540 RADAR_TRACK_604: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1541 RADAR_TRACK_605: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1542 RADAR_TRACK_606: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1543 RADAR_TRACK_607: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1544 RADAR_TRACK_608: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1545 RADAR_TRACK_609: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1546 RADAR_TRACK_60a: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1547 RADAR_TRACK_60b: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1548 RADAR_TRACK_60c: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1549 RADAR_TRACK_60d: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1550 RADAR_TRACK_60e: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1551 RADAR_TRACK_60f: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1552 RADAR_TRACK_610: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1553 RADAR_TRACK_611: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1554 RADAR_ALT_612: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1555 RADAR_ALT_613: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1556 RADAR_ALT_614: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1557 RADAR_ALT_615: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1558 RADAR_ALT_616: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1559 RADAR_ALT_617: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX

opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_mrrevo14f_radar.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+import os
+
+if __name__ == "__main__":
+  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+  hyundai_path = os.path.dirname(os.path.realpath(__file__))
+  with open(os.path.join(hyundai_path, dbc_name), "w", encoding="utf-8") as f:
+    f.write("""
+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_ 1537 RADAR_LEAD: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+""")
+
+    for a in range(0x602, 0x602 + 16):
+      f.write(f"""
+BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+""")
+
+    for a in range(0x612, 0x612 + 6):
+      f.write(f"""
+BO_ {a} RADAR_ALT_{a:x}: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+""")

opendbc_repo/opendbc/dbc/generator/rivian/.gitignore

@@ -1 +0,0 @@
-rivian_mando_front_radar.dbc

opendbc_repo/opendbc/dbc/generator/rivian/rivian_mando_front_radar.dbc

@@ -0,0 +1,358 @@
+
+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_ 1280 RADAR_TRACK_500: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1281 RADAR_TRACK_501: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1282 RADAR_TRACK_502: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1283 RADAR_TRACK_503: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1284 RADAR_TRACK_504: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1285 RADAR_TRACK_505: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1286 RADAR_TRACK_506: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1287 RADAR_TRACK_507: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1288 RADAR_TRACK_508: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1289 RADAR_TRACK_509: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1290 RADAR_TRACK_50a: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1291 RADAR_TRACK_50b: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1292 RADAR_TRACK_50c: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1293 RADAR_TRACK_50d: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1294 RADAR_TRACK_50e: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1295 RADAR_TRACK_50f: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1296 RADAR_TRACK_510: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1297 RADAR_TRACK_511: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1298 RADAR_TRACK_512: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1299 RADAR_TRACK_513: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1300 RADAR_TRACK_514: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1301 RADAR_TRACK_515: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1302 RADAR_TRACK_516: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1303 RADAR_TRACK_517: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1304 RADAR_TRACK_518: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1305 RADAR_TRACK_519: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1306 RADAR_TRACK_51a: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1307 RADAR_TRACK_51b: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1308 RADAR_TRACK_51c: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1309 RADAR_TRACK_51d: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1310 RADAR_TRACK_51e: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    
+BO_ 1311 RADAR_TRACK_51f: 8 RADAR
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+    

opendbc_repo/opendbc/dbc/generator/tesla/.gitignore

@@ -1 +0,0 @@
-*.dbc

opendbc_repo/opendbc/dbc/generator/toyota/_toyota_adas_standard.dbc

@@ -37,11 +37,24 @@ BO_ 740 STEERING_LKA: 5 XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
  SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
  SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
+ SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
+ SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
 
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";

opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc

@@ -82,6 +82,12 @@ VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
 
 BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
  SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
+ SG_ Byte1 : 15|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte2 : 23|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte3 : 31|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte4 : 39|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte5 : 47|8@0+ (1,0) [0|255] ""  NEO
+ SG_ Byte6 : 55|8@0+ (1,0) [0|255] ""  NEO
 
 BO_ 190 ECMAcceleratorPos: 6 K20_ECM
  SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
@@ -166,6 +172,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCButtonsHard : 26|2@0+ (1,0) [0|3] "" XXX
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
  SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
@@ -193,9 +200,14 @@ BO_ 500 SportMode: 6 XXX
  SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 501 ECMPRDNL2: 8 K20_ECM
+ SG_ Byte0 : 7|8@0+ (1,0) [0|255] "" NEO
+ SG_ Byte1 : 15|8@0+ (1,0) [0|255] "" NEO
+ SG_ Byte2 : 23|8@0+ (1,0) [0|255] "" NEO
  SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
  SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
+ SG_ Byte4 : 39|8@0+ (1,0) [0|255] "" NEO
  SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
+ SG_ Byte7 : 63|8@0+ (1,0) [0|255] "" NEO
 
 BO_ 532 BRAKE_RELATED: 6 XXX
  SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX

opendbc_repo/opendbc/dbc/hyundai_mrrevo14f_radar_generated.dbc

@@ -0,0 +1,254 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+CM_ "hyundai_mrrevo14f_radar.dbc starts here";
+
+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_ 1537 RADAR_LEAD: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1538 RADAR_TRACK_602: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1539 RADAR_TRACK_603: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1540 RADAR_TRACK_604: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1541 RADAR_TRACK_605: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1542 RADAR_TRACK_606: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1543 RADAR_TRACK_607: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1544 RADAR_TRACK_608: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1545 RADAR_TRACK_609: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1546 RADAR_TRACK_60a: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1547 RADAR_TRACK_60b: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1548 RADAR_TRACK_60c: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1549 RADAR_TRACK_60d: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1550 RADAR_TRACK_60e: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1551 RADAR_TRACK_60f: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1552 RADAR_TRACK_610: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1553 RADAR_TRACK_611: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 1554 RADAR_ALT_612: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1555 RADAR_ALT_613: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1556 RADAR_ALT_614: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1557 RADAR_ALT_615: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1558 RADAR_ALT_616: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1559 RADAR_ALT_617: 8 RADAR
+ SG_ DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ ID : 31|9@1+ (1,0) [0|511] "" XXX
+ SG_ SOMETHING_1 : 42|8@1+ (1,-128) [-128|127] "" XXX
+ SG_ SOMETHING_2 : 50|6@1+ (1,-32) [-32|31] "" XXX
+ SG_ COUNTER : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|4@0+ (1,0) [0|15] "" XXX

opendbc_repo/opendbc/dbc/toyota_new_mc_pt_generated.dbc

@@ -650,11 +650,24 @@ BO_ 740 STEERING_LKA: 5 XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
  SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
  SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
+ SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
+ SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
 
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";

opendbc_repo/opendbc/dbc/toyota_nodsu_pt_generated.dbc

@@ -650,11 +650,24 @@ BO_ 740 STEERING_LKA: 5 XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
  SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
  SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
+ SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
+ SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
 
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";

opendbc_repo/opendbc/dbc/toyota_tnga_k_pt_generated.dbc

@@ -650,11 +650,24 @@ BO_ 740 STEERING_LKA: 5 XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
+ SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
  SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
+ SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
  SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
+ SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
+ SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
 
 CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";

opendbc_repo/opendbc/safety/modes/gm.h

@@ -61,6 +61,7 @@ static bool gm_panda_paddle_sched = false;
 static bool gm_bolt_2022_pedal = false;
 static bool gm_alt_brake = false;
 static bool gm_volt_auto_hold = false;
+static bool gm_volt_one_pedal = false;
 
 static bool gm_cc_long = false;
 static bool gm_has_acc = true;
@@ -365,9 +366,10 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
   if (msg->addr == 0x315U) {
     int brake = ((msg->data[0] & 0xFU) << 8) + msg->data[1];
     brake = (0x1000 - brake) & 0xFFF;
-    bool stock_auto_hold_brake_allowed = gm_volt_auto_hold && !vehicle_moving && !gas_pressed_prev;
+    bool stock_auto_hold_brake_allowed = gm_volt_auto_hold && acc_main_on && !vehicle_moving && !gas_pressed_prev;
+    bool stock_one_pedal_brake_allowed = gm_volt_one_pedal && acc_main_on && !gas_pressed_prev && !brake_pressed;
     bool violation = false;
-    violation |= !(get_longitudinal_allowed() || stock_auto_hold_brake_allowed) && (brake != 0);
+    violation |= !(get_longitudinal_allowed() || stock_auto_hold_brake_allowed || stock_one_pedal_brake_allowed) && (brake != 0);
     if (stock_auto_hold_brake_allowed && !get_longitudinal_allowed()) {
       violation |= brake > GM_VOLT_AUTO_HOLD_MAX_BRAKE;
     } else {
@@ -612,6 +614,11 @@ static safety_config gm_init(uint16_t param) {
                                           {0x200, 0, 6, .check_relay = false},
                                           {0x1E1, 0, 7, .check_relay = false},
                                           {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};  // pt bus
+  static const CanMsg GM_CAM_BOLT_2022_PEDAL_FRICTION_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, {0x315, 0, 5, .check_relay = true},  // pt bus
+                                                                    {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true},  // camera bus
+                                                                    {0x200, 0, 6, .check_relay = false},
+                                                                    {0x1E1, 0, 7, .check_relay = false},
+                                                                    {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};  // pt bus
   static const CanMsg GM_CAM_VOLT_AUTO_HOLD_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, {0x315, 0, 5, .check_relay = true},  // pt bus
                                                          {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true},  // camera bus
                                                          {0x200, 0, 6, .check_relay = false},
@@ -635,6 +642,12 @@ static safety_config gm_init(uint16_t param) {
                                                     {0x200, 0, 6, .check_relay = false},
                                                     {0x1E1, 0, 7, .check_relay = false},
                                                     {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};  // pt bus
+  static const CanMsg GM_CAM_NO_CAMERA_BOLT_2022_PEDAL_FRICTION_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, {0x315, 0, 5, .check_relay = false},  // pt bus
+                                                                              {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false},
+                                                                              {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = false},  // camera bus
+                                                                              {0x200, 0, 6, .check_relay = false},
+                                                                              {0x1E1, 0, 7, .check_relay = false},
+                                                                              {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};  // pt bus
   static const CanMsg GM_CAM_NO_CAMERA_VOLT_AUTO_HOLD_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, {0x315, 0, 5, .check_relay = false},  // pt bus
                                                                    {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false},
                                                                    {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = false},  // camera bus
@@ -699,6 +712,10 @@ static safety_config gm_init(uint16_t param) {
   gm_panda_paddle_sched = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && gm_pedal_long && enable_gas_interceptor;
   // Reuse the paddle-scheduler bit as a stock-Volt auto-hold marker on non-pedal ACC paths.
   gm_volt_auto_hold = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && !gm_pedal_long && !gm_cc_long && gm_has_acc;
+  // Reuse the 3D1 scheduler bit as a stock-Volt one-pedal marker on non-pedal
+  // ACC paths. The actual 3D1 scheduler still requires pedal-long and no-ACC,
+  // so this stays isolated from the Bolt pedal path.
+  gm_volt_one_pedal = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && !gm_pedal_long && !gm_cc_long && gm_has_acc;
   gm_alt_brake = GET_FLAG(param, GM_PARAM_NO_CAMERA) && (gm_hw == GM_ASCM) && !gm_sdgm && !gm_ascm_int;
 
   gm_3d1_spoof_valid = false;
@@ -730,6 +747,11 @@ static safety_config gm_init(uint16_t param) {
   gm_pcm_cruise = (gm_hw == GM_CAM || gm_sdgm) && !gm_cam_long && !gm_force_ascm && !gm_pedal_long;
   const bool gm_ascm_int_stock_cam = gm_ascm_int && (gm_hw == GM_CAM) && gm_pcm_cruise && !gm_cam_long && !gm_pedal_long && !gm_cc_long;
   const bool gm_ascm_int_no_accel_pos = gm_ascm_int && (gm_hw == GM_CAM) && gm_force_brake_c9;
+  // FLAG_GM_BOLT_2022_PEDAL is shared with Malibu Hybrid pedal-long. Requiring
+  // the paddle scheduler bit narrows this whitelist to the Gen2 Bolt pedal-long
+  // experiment, which is the only path that should probe chassis friction brake
+  // while stock ACC remains canceled.
+  const bool gm_bolt_2022_pedal_friction = gm_bolt_2022_pedal && gm_panda_paddle_sched && !gm_has_acc;
   gm_steer_limits = GET_FLAG(param, GM_PARAM_BOLT_2017) ? &GM_BOLT_2017_STEERING_LIMITS : &GM_STEERING_LIMITS;
 
   if ((gm_hw == GM_ASCM && !gm_sdgm) || gm_ascm_int || gm_force_ascm) {
@@ -740,9 +762,10 @@ static safety_config gm_init(uint16_t param) {
 
   safety_config ret;
   const bool gm_sdgm_stock = gm_sdgm && !gm_cc_long && !gm_cam_long && !gm_no_camera;
+  const bool gm_volt_stock_brake = gm_volt_auto_hold || gm_volt_one_pedal;
   // SDGM behaves like a forwarding camera path for whitelist/forwarding purposes.
   if (gm_sdgm_stock) {
-    if (gm_volt_auto_hold) {
+    if (gm_volt_stock_brake) {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_VOLT_AUTO_HOLD_TX_MSGS);
     } else {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
@@ -764,16 +787,22 @@ static safety_config gm_init(uint16_t param) {
         ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
       }
     } else {
-      if (gm_volt_auto_hold && gm_sdgm) {
+      if (gm_volt_stock_brake && gm_sdgm) {
         ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_VOLT_AUTO_HOLD_TX_MSGS);
       } else if (gm_no_camera) {
-        if (gm_volt_auto_hold) {
+        if (gm_bolt_2022_pedal_friction) {
+          ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_BOLT_2022_PEDAL_FRICTION_TX_MSGS);
+        } else if (gm_volt_stock_brake) {
           ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_VOLT_AUTO_HOLD_TX_MSGS);
         } else {
           ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_TX_MSGS);
         }
       } else {
-        if (gm_volt_auto_hold) {
+        if (gm_bolt_2022_pedal_friction) {
+          // Experimental Gen2 Bolt pedal-long path: keep stock ACC canceled but
+          // allow OP to probe chassis friction-brake acceptance through panda.
+          ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_BOLT_2022_PEDAL_FRICTION_TX_MSGS);
+        } else if (gm_volt_stock_brake) {
           ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_VOLT_AUTO_HOLD_TX_MSGS);
         } else {
           ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);

opendbc_repo/opendbc/safety/modes/hyundai.h

@@ -56,7 +56,9 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   {.msg = {{0x91,  0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
 
 #define HYUNDAI_LDA_BUTTON_ADDR_CHECK \
-  {.msg = {{0x391, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
+  {.msg = {{0x391, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
+           {0x50C, 0, 8, 50U,  .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
+           {0x50C, 1, 8, 50U,  .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, \
 
 #define HYUNDAI_NON_SCC_HEV_ADDR_CHECK \
   {.msg = {{0x595U, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
@@ -68,6 +70,13 @@ static const CanMsg HYUNDAI_TX_MSGS[] = {
   HYUNDAI_COMMON_TX_MSGS(0)
 };
 
+static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
+  HYUNDAI_LONG_COMMON_TX_MSGS(0)
+  {0x38D, 0, 8, .check_relay = false}, // FCA11 Bus 0
+  {0x483, 0, 8, .check_relay = false}, // FCA12 Bus 0
+  {0x7D0, 0, 8, .check_relay = false}, // radar UDS TX addr Bus 0 (for radar disable)
+};
+
 static bool hyundai_legacy = false;
 
 static uint8_t hyundai_get_counter(const CANPacket_t *msg) {
@@ -226,6 +235,10 @@ static void hyundai_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == 0x391U) {
       hyundai_lkas_button_check(GET_BIT(msg, 4U));
     }
+
+    if ((msg->addr == 0x50CU) && ((msg->bus == 0U) || (msg->bus == 1U))) {
+      hyundai_lkas_button_check(GET_BIT(msg, 56U));
+    }
   }
 
   hyundai_common_reset_acc_main_on_mismatches();
@@ -316,13 +329,6 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
 }
 
 static safety_config hyundai_init(uint16_t param) {
-  static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
-    HYUNDAI_LONG_COMMON_TX_MSGS(0)
-    {0x38D, 0, 8, .check_relay = false}, // FCA11 Bus 0
-    {0x483, 0, 8, .check_relay = false}, // FCA12 Bus 0
-    {0x7D0, 0, 8, .check_relay = false}, // radar UDS TX addr Bus 0 (for radar disable)
-  };
-
   static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
     HYUNDAI_COMMON_TX_MSGS(2)
   };
@@ -550,9 +556,9 @@ static safety_config hyundai_legacy_init(uint16_t param) {
 
   hyundai_common_init(param);
   hyundai_legacy = true;
-  hyundai_longitudinal = false;
   hyundai_camera_scc = false;
-  return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
+  return hyundai_longitudinal ? BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_LONG_TX_MSGS) :
+                                BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
 }
 
 const safety_hooks hyundai_hooks = {

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -190,7 +190,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
     .has_steer_req_tolerance = true,
   };
   const AngleSteeringLimits HYUNDAI_CANFD_ANGLE_STEERING_LIMITS = {
-    .max_angle = 1800,
+    .max_angle = 3600,
     .angle_deg_to_can = 10,
     .frequency = 100U,
   };
@@ -221,7 +221,8 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
   }
 
   // steering
-  const unsigned int steer_addr = (hyundai_canfd_lka_steering && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
+  const unsigned int steer_addr = (hyundai_canfd_lka_steering && (hyundai_canfd_angle_steering || !hyundai_longitudinal)) ?
+                                  hyundai_canfd_get_lka_addr() : 0x12aU;
   if (msg->addr == steer_addr) {
     if (hyundai_canfd_angle_steering) {
       const int lkas_angle_active = (msg->data[9] >> 4U) & 0x3U;
@@ -230,9 +231,16 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
       int desired_angle = (msg->data[11] << 6U) | (msg->data[10] >> 2U);
       desired_angle = to_signed(desired_angle, 14);
 
+      // ADAS_ACIAnglTqRedcGainVal: bit 96, 8 bits, unsigned. Raw 0-250 valid, 251-255 reserved.
+      const uint8_t gain_raw = msg->data[12];
+      bool gain_violation = gain_raw > 250U;
+      if (!steer_angle_req && (gain_raw != 0U)) {
+        gain_violation = true;
+      }
+
       if (steer_angle_cmd_checks_vm(desired_angle, steer_angle_req,
                                     HYUNDAI_CANFD_ANGLE_STEERING_LIMITS,
-                                    HYUNDAI_CANFD_ANGLE_STEERING_PARAMS)) {
+                                    HYUNDAI_CANFD_ANGLE_STEERING_PARAMS) || gain_violation) {
         tx = false;
       }
     } else {
@@ -327,6 +335,21 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     {0x1DA, 1, 32, .check_relay = false},  // ADRV_0x1da
   };
 
+  static const CanMsg HYUNDAI_CANFD_LKA_STEERING_ALT_LONG_TX_MSGS[] = {
+    HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(0, 1)
+    HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(1)
+    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
+    HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(1)
+    {0x51,  0, 32, .check_relay = false},  // ADRV_0x51
+    {0x100, 0, 24, .check_relay = false},  // ACCELERATOR_BRAKE_ALT radar heartbeat spoof
+    {0x730, 1,  8, .check_relay = false},  // tester present for ADAS ECU disable
+    {0x160, 1, 16, .check_relay = false},  // ADRV_0x160
+    {0x1EA, 1, 32, .check_relay = false},  // ADRV_0x1ea
+    {0x200, 1,  8, .check_relay = false},  // ADRV_0x200
+    {0x345, 1,  8, .check_relay = false},  // ADRV_0x345
+    {0x1DA, 1, 32, .check_relay = false},  // ADRV_0x1da
+  };
+
   static const CanMsg HYUNDAI_CANFD_LFA_STEERING_TX_MSGS[] = {
     HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2)
     HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0)
@@ -375,7 +398,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
       };
 
       SET_RX_CHECKS(hyundai_canfd_lka_steering_long_rx_checks, ret);
-      SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS, ret);
+      if (hyundai_canfd_lka_steering_alt) {
+        SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_ALT_LONG_TX_MSGS, ret);
+      } else {
+        SET_TX_MSGS(HYUNDAI_CANFD_LKA_STEERING_LONG_TX_MSGS, ret);
+      }
 
     } else {
       // Longitudinal checks for LFA steering

opendbc_repo/opendbc/safety/modes/subaru.h

@@ -24,6 +24,7 @@
 #define MSG_SUBARU_Throttle              0x40U
 #define MSG_SUBARU_Steering_Torque       0x119U
 #define MSG_SUBARU_Wheel_Speeds          0x13aU
+#define MSG_SUBARU_Brake_Pedal           0x139U
 
 #define MSG_SUBARU_ES_LKAS               0x122U
 #define MSG_SUBARU_ES_Brake              0x220U
@@ -63,6 +64,10 @@
   {MSG_SUBARU_ES_STATIC_1,       SUBARU_MAIN_BUS, 8, .check_relay = false}, \
   {MSG_SUBARU_ES_STATIC_2,       SUBARU_MAIN_BUS, 8, .check_relay = false}, \
 
+#define SUBARU_STOP_AND_GO_ADDITIONAL_TX_MSGS() \
+  {MSG_SUBARU_Throttle,          SUBARU_CAM_BUS,  8, .check_relay = true}, \
+  {MSG_SUBARU_Brake_Pedal,       SUBARU_CAM_BUS,  8, .check_relay = true}, \
+
 #define SUBARU_COMMON_RX_CHECKS(alt_bus)                                                                                                         \
   {.msg = {{MSG_SUBARU_Throttle,        SUBARU_MAIN_BUS, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
   {.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \
@@ -72,6 +77,7 @@
 
 static bool subaru_gen2 = false;
 static bool subaru_longitudinal = false;
+static bool subaru_stop_and_go = false;
 
 static uint32_t subaru_get_checksum(const CANPacket_t *msg) {
   return (uint8_t)msg->data[0];
@@ -227,6 +233,12 @@ static safety_config subaru_init(uint16_t param) {
     SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS()
   };
 
+  static const CanMsg SUBARU_STOP_AND_GO_TX_MSGS[] = {
+    SUBARU_BASE_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS)
+    SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS)
+    SUBARU_STOP_AND_GO_ADDITIONAL_TX_MSGS()
+  };
+
   static RxCheck subaru_rx_checks[] = {
     SUBARU_COMMON_RX_CHECKS(SUBARU_MAIN_BUS)
   };
@@ -239,6 +251,9 @@ static safety_config subaru_init(uint16_t param) {
 
   subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2);
 
+  const uint16_t SUBARU_PARAM_STOP_AND_GO = 8;
+  subaru_stop_and_go = GET_FLAG(param, SUBARU_PARAM_STOP_AND_GO);
+
 #ifdef ALLOW_DEBUG
   const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
   subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
@@ -250,6 +265,7 @@ static safety_config subaru_init(uint16_t param) {
                                 BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_TX_MSGS);
   } else {
     ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_LONG_TX_MSGS) : \
+          subaru_stop_and_go  ? BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_STOP_AND_GO_TX_MSGS) : \
                                 BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_TX_MSGS);
   }
   return ret;

opendbc_repo/opendbc/safety/modes/subaru_preglobal.h

@@ -17,7 +17,16 @@
 #define SUBARU_PG_MAIN_BUS 0U
 #define SUBARU_PG_CAM_BUS  2U
 
+#define SUBARU_PG_COMMON_TX_MSGS() \
+  {MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8, .check_relay = true}, \
+  {MSG_SUBARU_PG_ES_LKAS,     SUBARU_PG_MAIN_BUS, 8, .check_relay = true}, \
+
+#define SUBARU_PG_STOP_AND_GO_ADDITIONAL_TX_MSGS() \
+  {MSG_SUBARU_PG_Throttle,    SUBARU_PG_CAM_BUS,  8, .check_relay = false}, \
+  {MSG_SUBARU_PG_Brake_Pedal, SUBARU_PG_CAM_BUS,  4, .check_relay = false}, \
+
 static bool subaru_pg_reversed_driver_torque = false;
+static bool subaru_pg_stop_and_go = false;
 
 static void subaru_preglobal_rx_hook(const CANPacket_t *msg) {
   if (msg->bus == SUBARU_PG_MAIN_BUS) {
@@ -81,8 +90,12 @@ static bool subaru_preglobal_tx_hook(const CANPacket_t *msg) {
 
 static safety_config subaru_preglobal_init(uint16_t param) {
   static const CanMsg SUBARU_PG_TX_MSGS[] = {
-    {MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8, .check_relay = true},
-    {MSG_SUBARU_PG_ES_LKAS,     SUBARU_PG_MAIN_BUS, 8, .check_relay = true}
+    SUBARU_PG_COMMON_TX_MSGS()
+  };
+
+  static const CanMsg SUBARU_PG_STOP_AND_GO_TX_MSGS[] = {
+    SUBARU_PG_COMMON_TX_MSGS()
+    SUBARU_PG_STOP_AND_GO_ADDITIONAL_TX_MSGS()
   };
 
   // TODO: do checksum and counter checks after adding the signals to the outback dbc file
@@ -95,9 +108,14 @@ static safety_config subaru_preglobal_init(uint16_t param) {
   };
 
   const uint16_t SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 4;
+  const uint16_t SUBARU_PG_PARAM_STOP_AND_GO = 8;
 
   subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE);
-  return BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);
+  subaru_pg_stop_and_go = GET_FLAG(param, SUBARU_PG_PARAM_STOP_AND_GO);
+
+  safety_config ret = subaru_pg_stop_and_go ? BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_STOP_AND_GO_TX_MSGS) : \
+                                             BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS);
+  return ret;
 }
 
 const safety_hooks subaru_preglobal_hooks = {

opendbc_repo/opendbc/safety/modes/toyota.h

@@ -69,6 +69,9 @@
   {.msg = {{0x116, 0, 8, 42U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \
   {.msg = {{0x101, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \
 
+#define TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK                                                                                                  \
+  {.msg = {{0x201, 0, 6, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \
+
 static bool toyota_secoc = false;
 static bool toyota_alt_brake = false;
 static bool toyota_stock_longitudinal = false;
@@ -90,6 +93,12 @@ static uint32_t toyota_get_checksum(const CANPacket_t *msg) {
   return (uint8_t)(msg->data[checksum_byte]);
 }
 
+static int toyota_get_interceptor(const CANPacket_t *msg) {
+  uint16_t val1 = ((uint16_t)msg->data[0] << 8U) | (uint16_t)msg->data[1];
+  uint16_t val2 = ((uint16_t)msg->data[2] << 8U) | (uint16_t)msg->data[3];
+  return (int)((val1 + val2) / 2U);
+}
+
 static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
 
   bool valid = false;
@@ -150,7 +159,9 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
       if (msg->addr == 0x1D2U) {
         bool cruise_engaged = GET_BIT(msg, 5U);  // PCM_CRUISE.CRUISE_ACTIVE
         pcm_cruise_check(cruise_engaged);
-        gas_pressed = !GET_BIT(msg, 4U);  // PCM_CRUISE.GAS_RELEASED
+        if (!enable_gas_interceptor) {
+          gas_pressed = !GET_BIT(msg, 4U);  // PCM_CRUISE.GAS_RELEASED
+        }
       }
       if (!toyota_alt_brake && (msg->addr == 0x226U)) {
         brake_pressed = GET_BIT(msg, 37U);  // BRAKE_MODULE.BRAKE_PRESSED (toyota_nodsu_pt_generated.dbc)
@@ -181,6 +192,14 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == 0x365U) {
       acc_main_on = GET_BIT(msg, 0U);
     }
+
+    if (enable_gas_interceptor && (msg->addr == 0x201U)) {
+      // Match the DBC's physical pedal threshold to avoid controls state mismatches.
+      const int toyota_gas_interceptor_threshold = 805;
+      int gas_interceptor = toyota_get_interceptor(msg);
+      gas_pressed = gas_interceptor > toyota_gas_interceptor_threshold;
+      gas_interceptor_prev = gas_interceptor;
+    }
   }
 }
 
@@ -351,6 +370,17 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
         }
       }
     }
+
+    if ((msg->addr == 0x200U) && longitudinal_interceptor_checks(msg)) {
+      tx = false;
+    }
+
+    // Auto brake hold replaces the camera AEB message only while stopped.
+    if ((msg->addr == 0x344U) && ((alternative_experience & ALT_EXP_ALLOW_AEB) != 0)) {
+      if (vehicle_moving || gas_pressed || !acc_main_on) {
+        tx = false;
+      }
+    }
   }
 
   // UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
@@ -384,6 +414,16 @@ static safety_config toyota_init(uint16_t param) {
     TOYOTA_COMMON_LONG_TX_MSGS_FILTER
   };
 
+  static const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
+    TOYOTA_COMMON_LONG_TX_MSGS
+    {0x200, 0, 6, .check_relay = false},
+  };
+
+  static const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS_FILTER[] = {
+    TOYOTA_COMMON_LONG_TX_MSGS_FILTER
+    {0x200, 0, 6, .check_relay = false},
+  };
+
   static const CanMsg TOYOTA_SECOC_LONG_TX_MSGS[] = {
     TOYOTA_COMMON_SECOC_LONG_TX_MSGS
   };
@@ -396,6 +436,7 @@ static safety_config toyota_init(uint16_t param) {
   const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
   const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
   const uint32_t TOYOTA_PARAM_LONG_FILTER = 16UL << TOYOTA_PARAM_OFFSET;
+  const uint32_t TOYOTA_PARAM_GAS_INTERCEPTOR = 32UL << TOYOTA_PARAM_OFFSET;
 
 #ifdef ALLOW_DEBUG
   const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
@@ -406,8 +447,13 @@ static safety_config toyota_init(uint16_t param) {
   toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
   toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
   toyota_long_filter = GET_FLAG(param, TOYOTA_PARAM_LONG_FILTER);
+  enable_gas_interceptor = GET_FLAG(param, TOYOTA_PARAM_GAS_INTERCEPTOR);
   toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
 
+  if (toyota_stock_longitudinal || toyota_secoc) {
+    enable_gas_interceptor = false;
+  }
+
   safety_config ret;
   if (toyota_secoc) {
     if (toyota_stock_longitudinal) {
@@ -418,6 +464,12 @@ static safety_config toyota_init(uint16_t param) {
   } else {
     if (toyota_stock_longitudinal) {
       SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
+    } else if (enable_gas_interceptor) {
+      if (toyota_long_filter) {
+        SET_TX_MSGS(TOYOTA_INTERCEPTOR_TX_MSGS_FILTER, ret);
+      } else {
+        SET_TX_MSGS(TOYOTA_INTERCEPTOR_TX_MSGS, ret);
+      }
     } else {
       if (toyota_long_filter) {
         SET_TX_MSGS(TOYOTA_LONG_TX_MSGS_FILTER, ret);
@@ -438,8 +490,16 @@ static safety_config toyota_init(uint16_t param) {
     static RxCheck toyota_lta_rx_checks[] = {
       TOYOTA_RX_CHECKS(true)
     };
+    static RxCheck toyota_lta_interceptor_rx_checks[] = {
+      TOYOTA_RX_CHECKS(true)
+      TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
+    };
 
-    SET_RX_CHECKS(toyota_lta_rx_checks, ret);
+    if (enable_gas_interceptor) {
+      SET_RX_CHECKS(toyota_lta_interceptor_rx_checks, ret);
+    } else {
+      SET_RX_CHECKS(toyota_lta_rx_checks, ret);
+    }
   } else {
     static RxCheck toyota_lka_rx_checks[] = {
       TOYOTA_RX_CHECKS(false)
@@ -447,8 +507,20 @@ static safety_config toyota_init(uint16_t param) {
     static RxCheck toyota_lka_alt_brake_rx_checks[] = {
       TOYOTA_ALT_BRAKE_RX_CHECKS(false)
     };
+    static RxCheck toyota_lka_interceptor_rx_checks[] = {
+      TOYOTA_RX_CHECKS(false)
+      TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
+    };
+    static RxCheck toyota_lka_alt_brake_interceptor_rx_checks[] = {
+      TOYOTA_ALT_BRAKE_RX_CHECKS(false)
+      TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
+    };
 
-    if (!toyota_alt_brake) {
+    if (enable_gas_interceptor && !toyota_alt_brake) {
+      SET_RX_CHECKS(toyota_lka_interceptor_rx_checks, ret);
+    } else if (enable_gas_interceptor) {
+      SET_RX_CHECKS(toyota_lka_alt_brake_interceptor_rx_checks, ret);
+    } else if (!toyota_alt_brake) {
       SET_RX_CHECKS(toyota_lka_rx_checks, ret);
     } else {
       SET_RX_CHECKS(toyota_lka_alt_brake_rx_checks, ret);
@@ -458,10 +530,20 @@ static safety_config toyota_init(uint16_t param) {
   return ret;
 }
 
+static bool toyota_fwd_hook(int bus_num, int addr) {
+  bool block_msg = false;
+  if (bus_num == 2) {
+    block_msg = (addr == 0x344) && ((alternative_experience & ALT_EXP_ALLOW_AEB) != 0) &&
+                !vehicle_moving && !gas_pressed && acc_main_on;
+  }
+  return block_msg;
+}
+
 const safety_hooks toyota_hooks = {
   .init = toyota_init,
   .rx = toyota_rx_hook,
   .tx = toyota_tx_hook,
+  .fwd = toyota_fwd_hook,
   .get_checksum = toyota_get_checksum,
   .compute_checksum = toyota_compute_checksum,
   .get_quality_flag_valid = toyota_get_quality_flag_valid,

opendbc_repo/opendbc/safety/tests/common.py

@@ -973,8 +973,8 @@ class SafetyTest(SafetyTestBase):
               continue
             if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmAscmSafety',
                                               'TestGmCameraEVSafety', 'TestGmCameraLongitudinalEVSafety', 'TestGmAscmEVSafety',
-                                              'TestGmInterceptorSafety', 'TestGmCcLongitudinalSafety',
-                                              'TestGmCcLongitudinalPandaSchedSafety'}):
+                                              'TestGmInterceptorSafety', 'TestGmBolt2022PedalFrictionSafety',
+                                              'TestGmCcLongitudinalSafety', 'TestGmCcLongitudinalPandaSchedSafety'}):
               continue
             if attr.startswith('TestFord') and current_test.startswith('TestFord'):
               continue
@@ -984,7 +984,8 @@ class SafetyTest(SafetyTestBase):
               continue
             if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC',
                                               'TestHyundaiSafetyFCEVLong', 'TestHyundaiLongitudinalAolLkasOnEngageSafety',
-                                              'TestHyundaiCanCanfdBlendedLongitudinalSafety'}):
+                                              'TestHyundaiCanCanfdBlendedLongitudinalSafety',
+                                              'TestHyundaiLegacyLongitudinalSafetyHEV'}):
               continue
             volkswagen_shared = ('TestVolkswagenMqb', 'TestVolkswagenMlb')
             if attr.startswith(volkswagen_shared) and current_test.startswith(volkswagen_shared):
@@ -1017,7 +1018,8 @@ class SafetyTest(SafetyTestBase):
 
             if attr.startswith('TestHyundaiLongitudinal') or attr in ('TestHyundaiSafetyFCEVLong',
                                                                       'TestHyundaiLongitudinalAolLkasOnEngageSafety',
-                                                                      'TestHyundaiCanCanfdBlendedLongitudinalSafety'):
+                                                                      'TestHyundaiCanCanfdBlendedLongitudinalSafety',
+                                                                      'TestHyundaiLegacyLongitudinalSafetyHEV'):
               # exceptions for common msgs across different Hyundai CAN platforms
               tx = list(filter(lambda m: m[0] not in [0x420, 0x50A, 0x389, 0x4A2], tx))
             all_tx.append([[m[0], m[1], attr] for m in tx])

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -307,6 +307,28 @@ def test_gm_ascm_int_long_no_accel_pos_uses_stock_cam_rx_checks():
   assert safety.safety_config_valid()
 
 
+def test_ascm_int_camera_long_blocks_radar_status_tx():
+  safety = libsafety_py.libsafety
+  radar_status_msgs = (
+    (0xA1, 7),
+    (0x306, 8),
+    (0x308, 7),
+    (0x310, 2),
+  )
+  ascm_int_long = GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | GMSafetyFlags.HW_ASCM_INT
+
+  safety.set_safety_hooks(CarParams.SafetyModel.gm, ascm_int_long)
+  safety.init_tests()
+  for addr, length in radar_status_msgs:
+    assert not safety.safety_tx_hook(common.make_msg(1, addr, length))
+
+  volt_sdgm_long = GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | GMSafetyFlags.HW_SDGM
+  safety.set_safety_hooks(CarParams.SafetyModel.gm, volt_sdgm_long)
+  safety.init_tests()
+  for addr, length in radar_status_msgs:
+    assert not safety.safety_tx_hook(common.make_msg(1, addr, length))
+
+
 class TestGmCameraEVSafety(GmCameraAccEVRegenMixin, TestGmCameraSafety, TestGmEVSafetyBase):
   pass
 
@@ -447,6 +469,71 @@ class TestGmInterceptorSafety(common.GasInterceptorSafetyTest, TestGmCameraSafet
     return to_send
 
 
+class TestGmBolt2022PedalFrictionSafety(TestGmInterceptorSafety):
+  TX_MSGS = TestGmInterceptorSafety.TX_MSGS + [[0x315, 0]]
+  FWD_BLACKLISTED_ADDRS = {2: [0x180, 0x370, 0x315], 0: [0x184, 0x3D1]}
+  RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x315), 2: (0x184,)}
+  EXTRA_SAFETY_PARAM = GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL
+
+  def setUp(self):
+    self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(
+      CarParams.SafetyModel.gm,
+      GMSafetyFlags.HW_CAM |
+      GMSafetyFlags.FLAG_GM_NO_ACC |
+      GMSafetyFlags.FLAG_GM_PEDAL_LONG |
+      GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR |
+      GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED |
+      self.EXTRA_SAFETY_PARAM)
+    self.safety.init_tests()
+
+  def _send_brake_msg(self, brake):
+    values = {"FrictionBrakeCmd": -brake}
+    return self.packer_chassis.make_can_msg_safety("EBCMFrictionBrakeCmd", 0, values)
+
+  def _engage_longitudinal(self):
+    self._rx(self.packer.make_can_msg_panda("ASCMSteeringButton", 0, {"ACCButtons": Buttons.DECEL_SET}))
+    self._rx(self.packer.make_can_msg_panda("ASCMSteeringButton", 0, {"ACCButtons": Buttons.UNPRESS}))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.assertTrue(self.safety.get_longitudinal_allowed())
+
+  def test_tx_hook_on_wrong_safety_mode(self):
+    self.skipTest("Gen2 Bolt pedal friction experiment intentionally shares the interceptor TX set plus 0x315")
+
+  def test_buttons(self):
+    for controls_allowed in (False, True):
+      self.safety.set_controls_allowed(controls_allowed)
+      for btn in range(8):
+        self.assertEqual(btn == Buttons.CANCEL, self._tx(self._button_msg(btn)))
+
+  def test_brake_allowed_when_controls_allowed(self):
+    self._engage_longitudinal()
+    self.assertTrue(self._tx(self._send_brake_msg(100)))
+
+  def test_brake_blocked_without_controls(self):
+    self.safety.set_controls_allowed(False)
+    self.assertFalse(self._tx(self._send_brake_msg(100)))
+
+  def test_brake_limit_enforced(self):
+    self._engage_longitudinal()
+    self.assertTrue(self._tx(self._send_brake_msg(400)))
+    self.assertFalse(self._tx(self._send_brake_msg(401)))
+
+  def test_brake_whitelist_requires_paddle_scheduler_selector(self):
+    self.safety.set_safety_hooks(
+      CarParams.SafetyModel.gm,
+      GMSafetyFlags.HW_CAM |
+      GMSafetyFlags.FLAG_GM_NO_ACC |
+      GMSafetyFlags.FLAG_GM_PEDAL_LONG |
+      GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR |
+      self.EXTRA_SAFETY_PARAM)
+    self.safety.init_tests()
+    self._engage_longitudinal()
+    self.assertFalse(self._tx(self._send_brake_msg(100)))
+
+
 class TestGmCcLongitudinalSafety(TestGmCameraSafety):
   TX_MSGS = [[0x180, 0], [0x370, 0], [0x1E1, 0], [0x3D1, 0], [0xBD, 0], [0x1F5, 0], [0x184, 2], [0x1E1, 2]]
   FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184, 0x3D1]}  # block LKAS, PSCMStatus, and stock cruise status
@@ -546,18 +633,62 @@ class TestGmVoltAutoHoldCameraSafety(TestGmCameraSafetyBase):
     values = {"FrictionBrakeCmd": -brake}
     return self.packer_chassis.make_can_msg_safety("EBCMFrictionBrakeCmd", 0, values)
 
-  def test_standstill_brake_allowed_without_controls(self):
+  def test_standstill_brake_allowed_without_controls_when_main_on(self):
     self._rx(self._speed_msg(0))
+    self._rx(self._toggle_aol(True))
     self.safety.set_controls_allowed(False)
     self.assertTrue(self._tx(self._send_brake_msg(100)))
 
+  def test_standstill_brake_blocked_without_main_on(self):
+    self._rx(self._speed_msg(0))
+    self._rx(self._toggle_aol(False))
+    self.safety.set_controls_allowed(False)
+    self.assertFalse(self._tx(self._send_brake_msg(100)))
+
   def test_moving_brake_blocked_without_controls(self):
     self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
+    self._rx(self._toggle_aol(True))
     self.safety.set_controls_allowed(False)
     self.assertFalse(self._tx(self._send_brake_msg(100)))
 
   def test_gas_blocks_standstill_brake_without_controls(self):
     self._rx(self._speed_msg(0))
+    self._rx(self._toggle_aol(True))
+    self._rx(self._user_gas_msg(True))
+    self.safety.set_controls_allowed(False)
+    self.assertFalse(self._tx(self._send_brake_msg(100)))
+
+
+class TestGmVoltOnePedalCameraSafety(TestGmCameraSafetyBase):
+  TX_MSGS = TestGmCameraSafety.TX_MSGS + [[0x315, 0]]
+  EXTRA_SAFETY_PARAM = GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED | GMSafetyFlags.FLAG_GM_PANDA_3D1_SCHED
+
+  def setUp(self):
+    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | self.EXTRA_SAFETY_PARAM)
+    self.safety.init_tests()
+
+  def _send_brake_msg(self, brake):
+    values = {"FrictionBrakeCmd": -brake}
+    return self.packer_chassis.make_can_msg_safety("EBCMFrictionBrakeCmd", 0, values)
+
+  def test_moving_brake_allowed_without_controls_when_main_on(self):
+    self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
+    self._rx(self._toggle_aol(True))
+    self.safety.set_controls_allowed(False)
+    self.assertTrue(self._tx(self._send_brake_msg(100)))
+
+  def test_moving_brake_blocked_without_main_on(self):
+    self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
+    self._rx(self._toggle_aol(False))
+    self.safety.set_controls_allowed(False)
+    self.assertFalse(self._tx(self._send_brake_msg(100)))
+
+  def test_gas_blocks_moving_brake_without_controls(self):
+    self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
+    self._rx(self._toggle_aol(True))
     self._rx(self._user_gas_msg(True))
     self.safety.set_controls_allowed(False)
     self.assertFalse(self._tx(self._send_brake_msg(100)))
@@ -578,13 +709,21 @@ class TestGmVoltAutoHoldSdgmSafety(TestGmSafetyBase):
     values = {"FrictionBrakeCmd": -brake}
     return self.packer_chassis.make_can_msg_safety("EBCMFrictionBrakeCmd", 2, values)
 
-  def test_standstill_brake_allowed_without_controls(self):
+  def test_standstill_brake_allowed_without_controls_when_main_on(self):
     self._rx(self._speed_msg(0))
+    self._rx(self._toggle_aol(True))
     self.safety.set_controls_allowed(False)
     self.assertTrue(self._tx(self._send_brake_msg(100)))
 
+  def test_standstill_brake_blocked_without_main_on(self):
+    self._rx(self._speed_msg(0))
+    self._rx(self._toggle_aol(False))
+    self.safety.set_controls_allowed(False)
+    self.assertFalse(self._tx(self._send_brake_msg(100)))
+
   def test_moving_brake_blocked_without_controls(self):
     self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
+    self._rx(self._toggle_aol(True))
     self.safety.set_controls_allowed(False)
     self.assertFalse(self._tx(self._send_brake_msg(100)))
 

opendbc_repo/opendbc/safety/tests/test_hyundai.py

@@ -416,6 +416,14 @@ class TestHyundaiSafetyFCEVLong(TestHyundaiLongitudinalSafety, TestHyundaiSafety
     self.safety.init_tests()
 
 
+class TestHyundaiLegacyLongitudinalSafetyHEV(TestHyundaiLongitudinalSafety, TestHyundaiLegacySafetyHEV):
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.LONG)
+    self.safety.init_tests()
+
+
 class TestHyundaiLongitudinalAolLkasOnEngageSafety(HyundaiAolLkasOnEngageBase, TestHyundaiLongitudinalSafety):
   def setUp(self):
     self.packer = CANPackerSafety("hyundai_kia_generic")

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -174,7 +174,7 @@ class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
   BUTTONS_TX_BUS = 2
   LATERAL_FREQUENCY = 100
   STANDSTILL_THRESHOLD = 12
-  STEER_ANGLE_MAX = 180
+  STEER_ANGLE_MAX = 360
   DEG_TO_CAN = 10
   GAS_MSG = ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL")
   SAFETY_PARAM = HyundaiSafetyFlags.CANFD_ANGLE_STEERING | HyundaiSafetyFlags.CAMERA_SCC | HyundaiSafetyFlags.HYBRID_GAS
@@ -248,7 +248,7 @@ class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
     checksum = sig_checksum.calc_checksum(addr, sig_checksum, dat)
     _set_value(dat, sig_checksum, checksum)
 
-  def _angle_cmd_msg(self, angle, enabled, increment_timer=True):
+  def _angle_cmd_msg(self, angle, enabled, increment_timer=True, gain_raw=250):
     if increment_timer:
       self.safety.set_timer(self.angle_cmd_cnt * int(1e6 / self.LATERAL_FREQUENCY))
       self.angle_cmd_cnt += 1
@@ -272,7 +272,7 @@ class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
     dat[9] = (dat[9] & ~0x30) | (((2 if enabled else 1) & 0x3) << 4)
     dat[10] = (dat[10] & 0x03) | ((desired_angle & 0x3F) << 2)
     dat[11] = (desired_angle >> 6) & 0xFF
-    dat[12] = 250 if enabled else 0
+    dat[12] = gain_raw if enabled or gain_raw != 250 else 0
     self._update_checksum(addr, dat)
     return libsafety_py.make_CANPacket(addr, 0, bytes(dat))
 
@@ -335,6 +335,19 @@ class TestHyundaiCanfdAngleSteering(HyundaiButtonBase, common.CarSafetyTest):
     self.assertFalse(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
     self.assertTrue(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
 
+  def test_angle_torque_reduction_gain_limits(self):
+    if self.__class__.__name__ != "TestHyundaiCanfdAngleSteering":
+      return
+
+    self.safety.set_controls_allowed(True)
+    self._reset_speed_measurement(1)
+    self._set_prev_desired_angle(0)
+    self.assertTrue(self._tx(self._angle_cmd_msg(0, True, gain_raw=250)))
+    self._set_prev_desired_angle(0)
+    self.assertFalse(self._tx(self._angle_cmd_msg(0, True, gain_raw=251)))
+    self._set_prev_desired_angle(0)
+    self.assertFalse(self._tx(self._angle_cmd_msg(0, False, gain_raw=1)))
+
 
 class TestHyundaiCanfdAngleSteeringLfaAlt(TestHyundaiCanfdAngleSteering):
 
@@ -546,6 +559,61 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
     return self.packer.make_can_msg_safety("SCC_CONTROL", 1, values)
 
 
+class TestHyundaiCanfdLKASteeringAltAngleLongEV(HyundaiLongitudinalBase, TestHyundaiCanfdAngleSteering):
+
+  TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0], [0x51, 0], [0x100, 0], [0x730, 1], [0x12a, 1], [0x160, 1],
+             [0x1ba, 1], [0x1e0, 1], [0x1e5, 1], [0x31a, 1], [0x3b5, 1], [0x3c1, 1],
+             [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
+
+  RELAY_MALFUNCTION_ADDRS = {0: (0x110, 0x362), 1: (0x1a0,)}  # LKAS_ALT, CAM_0x362, SCC_CONTROL
+  FWD_BLACKLISTED_ADDRS = {0: MRR35_RADAR_TRACK_ADDRS, 2: [0x110, 0x362]}
+
+  DISABLED_ECU_UDS_MSG = (0x730, 1)
+  DISABLED_ECU_ACTUATION_MSG = (0x1a0, 1)
+
+  PT_BUS = 1
+  SCC_BUS = 1
+  BUTTONS_TX_BUS = 1
+  STEER_MSG = "LKAS_ALT"
+  GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL")
+  SAFETY_PARAM = HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT | \
+    HyundaiSafetyFlags.CANFD_ANGLE_STEERING | HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.EV_GAS
+
+  def _angle_cmd_msg(self, angle, enabled, increment_timer=True, gain_raw=250):
+    if increment_timer:
+      self.safety.set_timer(self.angle_cmd_cnt * int(1e6 / self.LATERAL_FREQUENCY))
+      self.angle_cmd_cnt += 1
+
+    values = {
+      "LKA_MODE": 0,
+      "LKA_AVAILABLE": 3 if enabled else 0,
+      "LKA_WARNING": 0,
+      "LKA_ICON": 2 if enabled else 1,
+      "FCA_SYSWARN": 0,
+      "TORQUE_REQUEST": 0,
+      "STEER_REQ": 0,
+      "LFA_BUTTON": 0,
+      "LKA_ASSIST": 0,
+      "DAMP_FACTOR": 100,
+      "LKAS_ANGLE_ACTIVE": 2 if enabled else 1,
+      "HAS_LANE_SAFETY": 0,
+      "ADAS_StrAnglReqVal": angle,
+      "ADAS_ACIAnglTqRedcGainVal": gain_raw * 0.004 if enabled or gain_raw != 250 else 0.0,
+    }
+    return self.packer.make_can_msg_safety("LKAS_ALT", 0, values)
+
+  def _accel_msg(self, accel, aeb_req=False, aeb_decel=0):
+    values = {
+      "aReqRaw": accel,
+      "aReqValue": accel,
+    }
+    return self.packer.make_can_msg_safety("SCC_CONTROL", 1, values)
+
+  def _tx_acc_state_msg(self, main_on):
+    values = {"MainMode_ACC": int(main_on), "ACCMode": 0}
+    return self.packer.make_can_msg_safety("SCC_CONTROL", 1, values)
+
+
 # Tests longitudinal for ICE, hybrid, EV cars with LFA steering
 class TestHyundaiCanfdLFASteeringLongBase(HyundaiLongitudinalBase, TestHyundaiCanfdLFASteeringBase):
 

opendbc_repo/opendbc/safety/tests/test_subaru.py

@@ -16,6 +16,7 @@ class SubaruMsg(enum.IntEnum):
   Throttle          = 0x40
   Steering_Torque   = 0x119
   Wheel_Speeds      = 0x13a
+  Brake_Pedal       = 0x139
   ES_LKAS           = 0x122
   ES_LKAS_ANGLE     = 0x124
   ES_Brake          = 0x220
@@ -182,6 +183,12 @@ class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSaf
   TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS)
 
 
+class TestSubaruGen1StopAndGoSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
+  FLAGS = SubaruSafetyFlags.STOP_AND_GO
+  TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + [[SubaruMsg.Throttle, SUBARU_CAM_BUS],
+                                             [SubaruMsg.Brake_Pedal, SUBARU_CAM_BUS]]
+
+
 class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
   ALT_MAIN_BUS = SUBARU_ALT_BUS
   ALT_CAM_BUS = SUBARU_ALT_BUS

opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py

@@ -70,5 +70,10 @@ class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
   DBC = "subaru_outback_2019_generated"
 
 
+class TestSubaruPreglobalStopAndGoSafety(TestSubaruPreglobalSafety):
+  FLAGS = SubaruSafetyFlags.STOP_AND_GO
+  TX_MSGS = [[0x161, 0], [0x164, 0], [0x140, 2], [0xD1, 2]]
+
+
 if __name__ == "__main__":
   unittest.main()

opendbc_repo/opendbc/safety/tests/test_tesla_preap.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 
-from opendbc.car.structs import CarParams
+from opendbc.car.tesla.preap.interface import SAFETY_TESLA_PREAP
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 
@@ -14,7 +14,7 @@ class TestTeslaPreAPSafety(common.SafetyTestBase):
     self._set_mode(0)
 
   def _set_mode(self, param: int) -> None:
-    self.safety.set_safety_hooks(CarParams.SafetyModel.teslaPreap, param)
+    self.safety.set_safety_hooks(SAFETY_TESLA_PREAP, param)
     self.safety.init_tests()
 
   @staticmethod

opendbc_repo/opendbc/safety/tests/test_toyota.py

@@ -9,6 +9,7 @@ from opendbc.car.structs import CarParams
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerSafety
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 
 TOYOTA_COMMON_TX_MSGS = [[0x2E4, 0], [0x191, 0], [0x412, 0], [0x343, 0], [0x1D2, 0], [0x1D3, 0]]  # LKAS + LTA + ACC & PCM cancel cmds
 TOYOTA_SECOC_TX_MSGS = [[0x131, 0], [0x183, 0]] + TOYOTA_COMMON_TX_MSGS
@@ -16,6 +17,8 @@ TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0
                               [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
                               [0x411, 0],  # PCS_HUD
                               [0x750, 0]]  # radar diagnostic address
+TOYOTA_COMMON_LONG_TX_MSGS_FILTER = TOYOTA_COMMON_LONG_TX_MSGS[:-1]
+GAS_INTERCEPTOR_TX_MSGS = [[0x200, 0]]
 
 
 class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyTest):
@@ -94,6 +97,30 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
           msg = libsafety_py.make_CANPacket(0x283, 0, bytes(dat))
           self.assertEqual(not bad and not stock_longitudinal, self._tx(msg))
 
+  def test_auto_brake_hold_aeb_replacement_only_at_standstill(self):
+    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALLOW_AEB)
+    hold_msg = libsafety_py.make_CANPacket(0x344, 0, b"\xfd\x80\x00\x00\x00\x00\x00\xcc")
+
+    self._rx(self._speed_msg(0))
+    self._rx(self._toggle_aol(True))
+    self._rx(self._user_gas_msg(False))
+    self.assertTrue(self._tx(hold_msg))
+    self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x344))
+
+    self._rx(self._speed_msg(1.0))
+    self.assertFalse(self._tx(hold_msg))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
+
+    self._rx(self._speed_msg(0))
+    self._rx(self._user_gas_msg(True))
+    self.assertFalse(self._tx(hold_msg))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
+
+    self._rx(self._user_gas_msg(False))
+    self._rx(self._toggle_aol(False))
+    self.assertFalse(self._tx(hold_msg))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
+
   # Only allow LTA msgs with no actuation
   def test_lta_steer_cmd(self):
     for engaged, req, req2, torque_wind_down, angle in itertools.product([True, False],
@@ -271,6 +298,47 @@ class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque):
     pass
 
 
+class TestToyotaSafetyGasInterceptorBase(common.GasInterceptorSafetyTest, TestToyotaSafetyBase):
+
+  TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS + GAS_INTERCEPTOR_TX_MSGS
+  INTERCEPTOR_THRESHOLD = 805
+  DBC = "toyota_nodsu_pt_generated"
+  SAFETY_PARAM = TestToyotaSafetyBase.EPS_SCALE | ToyotaSafetyFlags.GAS_INTERCEPTOR
+
+  def setUp(self):
+    self.packer = CANPackerSafety(self.DBC)
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.SAFETY_PARAM)
+    self.safety.init_tests()
+
+  def _user_gas_msg(self, gas):
+    return self._interceptor_user_gas(self.INTERCEPTOR_THRESHOLD + 1 if gas else 0)
+
+  def test_stock_longitudinal_disables_interceptor(self):
+    self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
+                                 self.SAFETY_PARAM | ToyotaSafetyFlags.STOCK_LONGITUDINAL)
+    self.safety.init_tests()
+    self.safety.set_controls_allowed(True)
+    self.assertFalse(self._tx(self._interceptor_gas_cmd(100)))
+
+
+class TestToyotaSafetyTorqueGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyTorque):
+  pass
+
+
+class TestToyotaAltBrakeLongFilterGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaAltBrakeSafety):
+
+  TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS_FILTER + GAS_INTERCEPTOR_TX_MSGS
+  RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x191, 0x412)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191]}
+  DBC = "toyota_new_mc_pt_generated"
+  SAFETY_PARAM = (TestToyotaSafetyBase.EPS_SCALE | ToyotaSafetyFlags.ALT_BRAKE |
+                  ToyotaSafetyFlags.LONG_FILTER | ToyotaSafetyFlags.GAS_INTERCEPTOR)
+
+  def test_diagnostics(self):
+    super().test_diagnostics(ecu_disabled=False)
+
+
 class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase):
 
   TX_MSGS = TOYOTA_COMMON_TX_MSGS
@@ -398,7 +466,5 @@ class TestToyotaSecOcSafety(TestToyotaSecOcSafetyBase):
         self.assertEqual(should_tx, self._tx(self._accel_msg_343(accel)))
         self.assertEqual(should_tx, self._tx(self._accel_msg_343(accel, cancel_req=1)))
 
-
-
 if __name__ == "__main__":
   unittest.main()

panda/SConscript

@@ -169,6 +169,10 @@ build_project("panda", base_project_f4, "./board/main.c", [])
 build_project("panda_h7", base_project_h7, "./board/main.c", [])
 build_project("panda_remote", base_project_f4, "./board/main.c", ["-DPANDA_GM_REMOTE_START_C9"])
 build_project("panda_h7_remote", base_project_h7, "./board/main.c", ["-DPANDA_GM_REMOTE_START_C9"])
+build_project("panda_can_ignition_only", base_project_f4, "./board/main.c", ["-DPANDA_IGNORE_IGNITION_LINE"])
+build_project("panda_h7_can_ignition_only", base_project_h7, "./board/main.c", ["-DPANDA_IGNORE_IGNITION_LINE"])
+build_project("panda_remote_can_ignition_only", base_project_f4, "./board/main.c", ["-DPANDA_GM_REMOTE_START_C9", "-DPANDA_IGNORE_IGNITION_LINE"])
+build_project("panda_h7_remote_can_ignition_only", base_project_h7, "./board/main.c", ["-DPANDA_GM_REMOTE_START_C9", "-DPANDA_IGNORE_IGNITION_LINE"])
 
 # panda jungle fw
 flags = [

panda/board/main.c

@@ -27,9 +27,21 @@
 #include "board/obj/gitversion.h"
 
 #include "board/can_comms.h"
+
+static bool panda_ignition_line(void);
+
 #include "board/main_comms.h"
 
 
+static bool panda_ignition_line(void) {
+  #ifdef PANDA_IGNORE_IGNITION_LINE
+  return false;
+  #else
+  return harness_check_ignition();
+  #endif
+}
+
+
 // ********************* Serial debugging *********************
 
 void debug_ring_callback(uart_ring *ring) {
@@ -176,7 +188,7 @@ static void tick_handler(void) {
       const bool recent_heartbeat = heartbeat_counter == 0U;
 
       // tick drivers at 1Hz
-      bool started = harness_check_ignition() || ignition_can;
+      bool started = panda_ignition_line() || ignition_can;
       bootkick_tick(started, recent_heartbeat);
 
       // increase heartbeat counter and cap it at the uint32 limit

panda/board/main_comms.h

@@ -12,7 +12,7 @@ static int get_health_pkt(void *dat) {
   health->voltage_pkt = current_board->read_voltage_mV();
   health->current_pkt = current_board->read_current_mA();
 
-  health->ignition_line_pkt = (uint8_t)(harness_check_ignition());
+  health->ignition_line_pkt = (uint8_t)(panda_ignition_line());
   health->ignition_can_pkt = ignition_can;
 
   health->controls_allowed_pkt = controls_allowed;