Microslop

Faster takeoffs after leads and green lights.

cereal/log.capnp

@@ -2179,6 +2179,7 @@ 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);

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}},
@@ -68,7 +67,9 @@ 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}},
@@ -221,6 +222,7 @@ 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}},
@@ -366,7 +368,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LongitudinalTune", {PERSISTENT, BOOL, "1", "0", 0}},
     {"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
     {"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
+    {"MainCruiseButtonControl", {PERSISTENT, INT, "9", "9", 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, "[]", "[]"}},
     {"MapAcceleration", {PERSISTENT, BOOL, "0", "0", 1}},
     {"MapboxPublicKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
     {"MapBoxRequests", {PERSISTENT, JSON, "{}", "{}"}},
@@ -376,6 +382,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MapGears", {PERSISTENT, BOOL, "0", "0", 2}},
     {"MapsSelected", {PERSISTENT, STRING, "", "", 0}},
     {"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
+    {"NavDesiresAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"NavLongitudinalAllowed", {PERSISTENT, BOOL, "1", "0", 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"}},
     {"VisionSpeedLimitConfidence", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
@@ -403,7 +414,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"NNFFModelName", {CLEAR_ON_MANAGER_START, STRING, "", "", 0}},
     {"NoLogging", {PERSISTENT, BOOL, "0", "0", 2}},
     {"NoUploads", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NudgelessLaneChange", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"NudgelessLaneChange", {PERSISTENT, BOOL, "0", "0", 0}},
     {"NumericalTemp", {PERSISTENT, BOOL, "1", "0", 3}},
     {"Offset1", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
     {"Offset2", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},

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)

launch_chffrplus.sh

@@ -33,64 +33,7 @@ function agnos_init {
   # StarPilot variables
   sudo chmod 0777 /cache
 
-  # Weston loads display color correction from /data/misc/display/color_cal/color_cal.
-  # Prefer a factory /persist/comma/color_cal blob when present. Otherwise, derive a
-  # Weston-compatible calibration blob from the device's legacy dwo gamma tables.
-  COLOR_CAL_SRC="/persist/comma/color_cal"
-  DWO_GAMMA_SRC="/persist/comma/dwo_gamma_curves"
-  COLOR_CAL_DST_DIR="/data/misc/display/color_cal"
-  COLOR_CAL_DST="${COLOR_CAL_DST_DIR}/color_cal"
-  COLOR_CAL_HASH_PATH="${COLOR_CAL_DST_DIR}/source.sha256"
-  DWO_REFERENCE="$DIR/tools/reference_dwo_gamma_curves.txt"
-  DWO_GENERATOR="$DIR/tools/generate_color_cal_from_dwo.py"
-  COLOR_CAL_UPDATED=0
-  COLOR_CAL_TMP=""
-  DWO_SOURCE_HASH=""
-
-  if [ -f "$COLOR_CAL_SRC" ]; then
-    sudo mkdir -p "$COLOR_CAL_DST_DIR"
-    if [ ! -f "$COLOR_CAL_DST" ] || ! cmp -s "$COLOR_CAL_SRC" "$COLOR_CAL_DST"; then
-      sudo cp "$COLOR_CAL_SRC" "$COLOR_CAL_DST"
-      sudo chown -R comma:comma "$COLOR_CAL_DST_DIR"
-      sudo chmod 664 "$COLOR_CAL_DST"
-      sudo rm -f "$COLOR_CAL_HASH_PATH"
-      COLOR_CAL_UPDATED=1
-    fi
-  elif [ -f "$DWO_GAMMA_SRC" ] && [ -f "$DWO_REFERENCE" ] && [ -f "$DWO_GENERATOR" ]; then
-    DWO_SOURCE_HASH="$(cat "$DWO_GAMMA_SRC" "$DWO_REFERENCE" "$DWO_GENERATOR" | sha256sum | awk '{print $1}')"
-    if [ ! -f "$COLOR_CAL_DST" ] || [ ! -f "$COLOR_CAL_HASH_PATH" ] || [ "$(cat "$COLOR_CAL_HASH_PATH" 2>/dev/null)" != "$DWO_SOURCE_HASH" ]; then
-      COLOR_CAL_TMP="$(mktemp)"
-      if python3 "$DWO_GENERATOR" --reference "$DWO_REFERENCE" --input "$DWO_GAMMA_SRC" --output "$COLOR_CAL_TMP"; then
-        sudo mkdir -p "$COLOR_CAL_DST_DIR"
-        if [ ! -f "$COLOR_CAL_DST" ] || ! cmp -s "$COLOR_CAL_TMP" "$COLOR_CAL_DST"; then
-          sudo cp "$COLOR_CAL_TMP" "$COLOR_CAL_DST"
-          COLOR_CAL_UPDATED=1
-        fi
-        printf '%s' "$DWO_SOURCE_HASH" | sudo tee "$COLOR_CAL_HASH_PATH" >/dev/null
-        sudo chown -R comma:comma "$COLOR_CAL_DST_DIR"
-        sudo chmod 664 "$COLOR_CAL_DST" "$COLOR_CAL_HASH_PATH"
-      fi
-      rm -f "$COLOR_CAL_TMP"
-    fi
-  fi
-
-  if [ "$COLOR_CAL_UPDATED" = "1" ] && systemctl is-active --quiet weston.service; then
-    sudo systemctl restart weston.service
-
-    # Weston can recreate wayland-0 as root on service restart before weston-ready
-    # fixes ownership. Repair it here so the Qt UI can always reconnect.
-    if [ -d /var/tmp/weston ]; then
-      for _ in $(seq 1 50); do
-        if [ -S /var/tmp/weston/wayland-0 ]; then
-          sudo chown -R comma:comma /var/tmp/weston 2>/dev/null || true
-          sudo chmod -R 700 /var/tmp/weston 2>/dev/null || true
-          SOCKET_OWNER="$(stat -c '%U:%G' /var/tmp/weston/wayland-0 2>/dev/null || true)"
-          [ "$SOCKET_OWNER" = "comma:comma" ] && break
-        fi
-        sleep 0.1
-      done
-    fi
-  fi
+  sudo rm -f /data/misc/display/color_cal/color_cal /data/misc/display/color_cal/source.sha256
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then

opendbc_repo/opendbc/car/docs.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import os
+from types import SimpleNamespace
 from typing import get_args
 
 from collections import defaultdict
@@ -32,7 +33,8 @@ def get_params_for_docs(platform) -> CarParams:
   cp_platform = platform if platform in interfaces else MOCK.MOCK
   CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
                                                      car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
-                                                     alpha_long=True, is_release=False, docs=True)
+                                                     alpha_long=True, is_release=False, docs=True,
+                                                     starpilot_toggles=SimpleNamespace())
   return CP
 
 

opendbc_repo/opendbc/car/docs_definitions.py

@@ -131,6 +131,7 @@ class CarHarness(EnumBase):
   hyundai_p = BaseCarHarness("Hyundai P connector")
   hyundai_q = BaseCarHarness("Hyundai Q connector")
   hyundai_r = BaseCarHarness("Hyundai R connector")
+  hyundai_s = BaseCarHarness("Hyundai S connector")
   custom = BaseCarHarness("Developer connector")
   obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
   gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])

opendbc_repo/opendbc/car/fingerprints.py

@@ -193,29 +193,43 @@ MIGRATION = {
   "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
   "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
   "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
+  "HYUNDAI KONA 2ND GEN": HYUNDAI.HYUNDAI_KONA_2ND_GEN,
   "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
   "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
   "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
   "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
+  "HYUNDAI KONA HYBRID 2ND GEN": HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN,
   "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
   "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
   "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
+  "HYUNDAI SANTA FE HYBRID 5TH GEN": HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
   "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
   "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
+  "HYUNDAI SONATA 2024": HYUNDAI.HYUNDAI_SONATA_2024,
   "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
   "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
   "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "HYUNDAI TUCSON 2025": HYUNDAI.HYUNDAI_TUCSON_2025,
+  "HYUNDAI TUCSON HYBRID 2025": HYUNDAI.HYUNDAI_TUCSON_HEV_2025,
+  "HYUNDAI TUCSON PLUG-IN HYBRID 2025": HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
   "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
   "HYUNDAI PALISADE 2023": HYUNDAI.HYUNDAI_PALISADE_2023,
   "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
   "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
+  "HYUNDAI SONATA HYBRID 2024": HYUNDAI.HYUNDAI_SONATA_HEV_2024,
   "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
+  "HYUNDAI IONIQ 5 2025": HYUNDAI.HYUNDAI_IONIQ_5_PE,
+  "HYUNDAI IONIQ 5 N 2024": HYUNDAI.HYUNDAI_IONIQ_5_N,
   "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
+  "HYUNDAI IONIQ 9 2025": HYUNDAI.HYUNDAI_IONIQ_9,
   "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
   "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  "HYUNDAI SANTA CRUZ 2025": HYUNDAI.HYUNDAI_SANTA_CRUZ_2025,
   "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
   "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
+  "KIA K4 2025": HYUNDAI.KIA_K4_2025,
   "KIA K5 2021": HYUNDAI.KIA_K5_2021,
+  "KIA K5 2025": HYUNDAI.KIA_K5_2025,
   "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
   "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
   "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
@@ -230,22 +244,29 @@ MIGRATION = {
   "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
   "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
   "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
+  "KIA SPORTAGE 2026": HYUNDAI.KIA_SPORTAGE_2026,
   "KIA SPORTAGE HYBRID 2026": HYUNDAI.KIA_SPORTAGE_HEV_2026,
   "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
   "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
+  "KIA SORENTO 2024": HYUNDAI.KIA_SORENTO_2024,
   "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+  "KIA SORENTO HYBRID 4TH GEN LFA2": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN_LFA2,
   "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
   "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
   "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
   "KIA EV6 2022": HYUNDAI.KIA_EV6,
+  "KIA EV6 2025": HYUNDAI.KIA_EV6_2025,
+  "KIA EV9 2025": HYUNDAI.KIA_EV9,
   "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
   "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
   "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
   "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
   "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
+  "GENESIS GV70 ELECTRIFIED 2026": HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
   "GENESIS G80 2017": HYUNDAI.GENESIS_G80,
   "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
   "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
+  "GENESIS GV80 2025": HYUNDAI.GENESIS_GV80_2025,
   "MAZDA CX-5": MAZDA.MAZDA_CX5,
   "MAZDA CX-9": MAZDA.MAZDA_CX9,
   "MAZDA 3": MAZDA.MAZDA_3,

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

@@ -92,6 +92,29 @@ 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,
@@ -703,9 +726,10 @@ class CarController(CarControllerBase):
             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, CC.enabled,
-                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control, fcw_alert))
+          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN,
+                                                              acc_dashboard_status, fcw_alert))
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)

opendbc_repo/opendbc/car/gm/carstate.py

@@ -81,6 +81,12 @@ 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:
@@ -267,17 +273,25 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
     self.stock_fcw_alert = 0
+    ret.stockFcw = False
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       has_acc_dashboard_status = self.CP.carFingerprint not in CC_ONLY_CAR or self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
       if has_acc_dashboard_status:
         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"])
+        ret.stockFcw = self.stock_fcw_alert != 0
 
-      if self.CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
+      if self.CP.carFingerprint not in SDGM_CAR:
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
       else:
         ret.stockAeb = False
@@ -424,7 +438,7 @@ class CarState(CarStateBase):
         ("ASCMSteeringButton", 33),
       ]
       if CP.enableBsm:
-        pt_messages.append(("BCMBlindSpotMonitor", 10))
+        pt_messages.append(("BCMBlindSpotMonitor", 0))
 
     if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
       if ("ECMAcceleratorPos", 80) in pt_messages:
@@ -466,8 +480,14 @@ class CarState(CarStateBase):
           ("ASCMSteeringButton", 33),
         ]
         if CP.enableBsm:
-          cam_messages.append(("BCMBlindSpotMonitor", 10))
-      elif CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
+          cam_messages.append(("BCMBlindSpotMonitor", 0))
+      elif CP.carFingerprint in ASCM_INT:
+        # Volt/ASCM-int variants don't reliably have AEBCmd present at startup,
+        # but when it appears we still want to surface OEM AEB state.
+        cam_messages += [
+          ("AEBCmd", 0),
+        ]
+      elif CP.carFingerprint not in SDGM_CAR:
         cam_messages += [
           ("AEBCmd", 10),
         ]

opendbc_repo/opendbc/car/gm/fingerprints.py

@@ -213,9 +213,12 @@ FINGERPRINTS.update({
   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

@@ -209,17 +209,18 @@ 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, enabled, target_speed_kph, hud_control, fcw_alert):
-  target_speed = min(target_speed_kph, 255)
+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)
 
   values = {
     "ACCAlwaysOne": 1,
-    "ACCResumeButton": 0,
+    "ACCCruiseState": int(status_values.get("ACCCruiseState", 0)) & 0x7,
+    "ACCResumeButton": int(status_values.get("ACCResumeButton", 0)) & 0x1,
     "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": hud_control.leadDistanceBars * enabled,  # 3 "far", 0 "inactive"
-    "ACCCmdActive": enabled,
+    "ACCGapLevel": int(status_values.get("ACCGapLevel", 0)) & 0x3,
+    "ACCCmdActive": int(status_values.get("ACCCmdActive", 0)) & 0x1,
     "ACCAlwaysOne2": 1,
-    "ACCLeadCar": hud_control.leadVisible,
+    "ACCLeadCar": int(status_values.get("ACCLeadCar", 0)) & 0x1,
     "FCWAlert": int(fcw_alert) & 0x3,
   }
 

opendbc_repo/opendbc/car/gm/interface.py

@@ -58,6 +58,14 @@ NON_LINEAR_TORQUE_PARAMS = {
     "left": [3.8, 0.81, 0.24, 0.0465122],
     "right": [3.8, 0.81, 0.24, 0.0465122],
   },
+  CAR.CHEVROLET_SILVERADO_CC: {
+    "left": [3.8, 0.81, 0.24, 0.0465122],
+    "right": [3.8, 0.81, 0.24, 0.0465122],
+  },
+  CAR.CHEVROLET_VOLT: {
+    "left": [1.5, 1.0, 0.155, 0.0],
+    "right": [1.5, 1.0, 0.155, 0.0],
+  },
 }
 
 PEDAL_MSG = 0x201
@@ -85,6 +93,14 @@ VOLT_LONG_TEST_TUNE_CARS = {
   CAR.CHEVROLET_VOLT_CC,
 }
 
+VOLT_BSM_CARS = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.CHEVROLET_VOLT_CC,
+}
+
 BOLT_PEDAL_LONG_CARS = {
   CAR.CHEVROLET_BOLT_CC_2017,
   CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -201,7 +217,8 @@ class CarInterface(CarInterfaceBase):
     ret.brand = "gm"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
-    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
+    # Some Volt installs don't expose the BSM frame during startup fingerprinting.
+    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN] or candidate in VOLT_BSM_CARS
     has_sascm = 0x2FF in fingerprint[CanBus.POWERTRAIN]
     if has_sascm:
       ret.flags |= GMFlags.SASCM.value
@@ -393,8 +410,8 @@ 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
@@ -452,7 +469,7 @@ class CarInterface(CarInterfaceBase):
         # ACC Bolts use pedal for full longitudinal control, not just SNG.
         ret.flags |= GMFlags.PEDAL_LONG.value
 
-    elif candidate == CAR.CHEVROLET_SILVERADO:
+    elif candidate in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC):
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future
@@ -489,7 +506,7 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.CADILLAC_XT5_CC:
+    elif candidate in (CAR.CADILLAC_XT5, CAR.CADILLAC_XT5_CC):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 

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

@@ -0,0 +1,387 @@
+import sys
+import types
+from types import SimpleNamespace
+
+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 (
+  CarController,
+  estimate_auto_hold_brake,
+  get_adas_keepalive_step,
+  get_lka_steering_cmd_counter,
+  get_testing_ground_1_brake_switch_bias,
+  get_stock_cc_active_for_cancel,
+  should_activate_auto_hold,
+  should_send_stock_long_cancel,
+  should_spoof_dash_speed,
+  should_spoof_ecm_cruise_status,
+  supports_volt_auto_hold,
+  use_interceptor_sng_launch,
+)
+from opendbc.car.gm.values import AccState, CAR, GMFlags
+from opendbc.car.structs import CarParams
+
+
+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"
+  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_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 not 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_volt_auto_hold_requires_toggle_supported_non_cc_only_volt_and_stock_safety():
+  stock_safety = [SimpleNamespace(safetyParam=0x8000)]
+  no_safety = [SimpleNamespace(safetyParam=0)]
+
+  assert 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,
+      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
+
+
+def test_auto_hold_activation_allows_direct_entry_from_stopped_brake_press():
+  assert should_activate_auto_hold(
+    True,
+    False,
+    False,
+    True,
+    True,
+    False,
+    False,
+    0.01,
+  )
+
+
+def test_auto_hold_activation_stays_latched_after_brake_release():
+  assert should_activate_auto_hold(
+    True,
+    False,
+    True,
+    False,
+    True,
+    False,
+    False,
+    0.0,
+  )
+
+
+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,
+    True,
+    True,
+    False,
+    0.0,
+  )
+  assert not should_activate_auto_hold(
+    True,
+    True,
+    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,
+    True,
+    False,
+    False,
+    0.05,
+  )
+
+
+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_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_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

@@ -3,12 +3,14 @@ from types import SimpleNamespace
 from parameterized import parameterized
 
 from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, DT_CTRL
+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.carcontroller import (
   VisualAlert,
   get_acc_dashboard_fcw_alert,
+  get_acc_dashboard_status_values,
   should_send_acc_dashboard_status,
   should_send_cc_button_spam,
   should_spoof_dash_speed,
@@ -130,6 +132,44 @@ class TestGMInterface:
     assert "ECMAcceleratorPos" not in pt_parser.vl
     assert "EBCMBrakePedalPosition" in pt_parser.vl
 
+  @parameterized.expand(VOLT_CARS)
+  def test_volt_bsm_is_enabled_without_fingerprint_match(self, car_model):
+    CarInterface = interfaces[car_model]
+    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
+                                         starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.enableBsm
+
+  def test_volt_bsm_parser_is_optional(self):
+    cp = SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
+      networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
+      flags=0,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+      enableGasInterceptorDEPRECATED=False,
+      enableBsm=True,
+    )
+
+    pt_parser = GMCarState.get_can_parsers(cp)[Bus.pt]
+    bsm_addr = pt_parser.dbc.name_to_msg["BCMBlindSpotMonitor"].address
+
+    assert "BCMBlindSpotMonitor" in pt_parser.vl
+    assert pt_parser.message_states[bsm_addr].ignore_alive
+
+  def test_volt_ascm_cam_parser_includes_optional_aeb_cmd(self):
+    cam_parser = GMCarState.get_can_parsers(SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
+      networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
+      flags=0,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+      enableGasInterceptorDEPRECATED=False,
+      enableBsm=False,
+    ))[Bus.cam]
+    aeb_addr = cam_parser.dbc.name_to_msg["AEBCmd"].address
+
+    assert "AEBCmd" in cam_parser.vl
+    assert cam_parser.message_states[aeb_addr].ignore_alive
+
   def test_bolt_gen2_pedal_cancel_remap_sets_alt_exp(self):
     CarInterface = interfaces[CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL]
     fingerprint = _empty_fingerprint()
@@ -147,6 +187,30 @@ class TestGMInterface:
     assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL.value
 
+  def test_cadillac_xt5_sdgm_sascm_gates_alpha_long(self):
+    CarInterface = interfaces[CAR.CADILLAC_XT5]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0xBE] = 6
+
+    stock_params = CarInterface.get_params(CAR.CADILLAC_XT5, fingerprint, [], alpha_long=True, is_release=False,
+                                           docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert stock_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert stock_params.pcmCruise
+    assert stock_params.alphaLongitudinalAvailable is False
+    assert stock_params.openpilotLongitudinalControl is False
+    assert stock_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_SDGM.value
+
+    fingerprint[0][0x2FF] = 8
+    sascm_params = CarInterface.get_params(CAR.CADILLAC_XT5, fingerprint, [], alpha_long=True, is_release=False,
+                                           docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert sascm_params.flags & GMFlags.SASCM.value
+    assert sascm_params.alphaLongitudinalAvailable
+    assert sascm_params.openpilotLongitudinalControl
+    assert not sascm_params.pcmCruise
+    assert sascm_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM_LONG.value
+
 
 class TestGMCarController:
   def test_dash_speed_spoof_respects_live_stock_acc_toggles(self):
@@ -259,9 +323,14 @@ class TestGMCarController:
     msg = gmcan.create_acc_dashboard_command(
       packer,
       0,
-      True,
-      100,
-      SimpleNamespace(leadDistanceBars=3, leadVisible=True),
+      {
+        "ACCCruiseState": 0,
+        "ACCLeadCar": 1,
+        "ACCResumeButton": 0,
+        "ACCSpeedSetpoint": 100,
+        "ACCGapLevel": 3,
+        "ACCCmdActive": 1,
+      },
       0x2,
     )
 
@@ -269,6 +338,24 @@ class TestGMCarController:
 
     assert parser.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] == 2
 
+  def test_acc_dashboard_command_can_replay_stock_status_payload(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_ASCM][Bus.pt])
+    msg = gmcan.create_acc_dashboard_command(
+      packer,
+      0,
+      {
+        "ACCCruiseState": 0,
+        "ACCLeadCar": 1,
+        "ACCResumeButton": 0,
+        "ACCSpeedSetpoint": 50,
+        "ACCGapLevel": 2,
+        "ACCCmdActive": 0,
+      },
+      0x3,
+    )
+
+    assert msg[1].hex() == "010023200113"
+
   def test_acc_dashboard_fcw_alert_prefers_openpilot_alert(self):
     cs = SimpleNamespace(
       stock_fcw_alert=1,
@@ -292,3 +379,53 @@ class TestGMCarController:
     )
 
     assert get_acc_dashboard_fcw_alert(VisualAlert.none, cs) == 0x3
+
+  def test_acc_dashboard_fcw_alert_falls_back_to_stock_fcw_event(self):
+    cs = SimpleNamespace(
+      stock_fcw_alert=0,
+      out=SimpleNamespace(stockAeb=False, stockFcw=True),
+    )
+
+    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 +1,52 @@
+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_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"
+
+  def test_gas_regen_command_matches_opgm_plain_volt_layout(self):
+    packer = CANPacker("gm_global_a_powertrain_generated")
+    addr, dat, bus = gmcan.create_gas_regen_command(packer, 0, 5000, 1, True, False, use_generated_layout=True)
+
+    assert addr == 0x2CB
+    assert bus == 0
+    assert dat.hex() == "41435c7000bca38f"

opendbc_repo/opendbc/car/gm/values.py

@@ -233,7 +233,7 @@ class CAR(Platforms):
   )
   CHEVROLET_VOLT = GMASCMPlatformConfig(
     [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
-    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
+    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45, tireStiffnessFactor=1.0, minEnableSpeed=-1), #tire stiffness factor hasn't been updated since 2018 and every other gm is on 1.0
     dbc_dict={
       Bus.pt: "gm_global_a_powertrain_volt",
       Bus.radar: "gm_global_a_object",
@@ -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),
@@ -329,6 +333,13 @@ class CAR(Platforms):
     ],
     GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
   )
+  CHEVROLET_SILVERADO_CC = GMPlatformConfig(
+    [
+      GMCarDocs("Chevrolet Silverado 1500 - No-ACC"),
+      GMCarDocs("GMC Sierra 1500 - No-ACC"),
+    ],
+    CHEVROLET_SILVERADO.specs,
+  )
   CHEVROLET_EQUINOX = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22")],
     GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
@@ -353,6 +364,10 @@ class CAR(Platforms):
     [GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
     GMCarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
   )
+  CADILLAC_XT5 = GMSDGMPlatformConfig(
+    [GMCarDocs("Cadillac XT5 2022", "Driver Assist Package")],
+    CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
+  )
   CADILLAC_XT6 = GMPlatformConfig(
     [GMCarDocs("Cadillac XT6 2020", "Driver Assist Package")],
     GMCarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.5, centerToFrontRatio=0.4),
@@ -383,7 +398,7 @@ class CAR(Platforms):
   )
   CADILLAC_XT5_CC = GMPlatformConfig(
     [GMCarDocs("Cadillac XT5 - No-ACC")],
-    CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
+    CADILLAC_XT5.specs,
   )
   CHEVROLET_EQUINOX_CC = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
@@ -527,6 +542,7 @@ ALT_ACCS = {CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {
   CAR.CADILLAC_XT4,
+  CAR.CADILLAC_XT5,
   CAR.CADILLAC_XT6,
   CAR.CHEVROLET_TRAVERSE,
   CAR.CHEVROLET_BLAZER,
@@ -549,6 +565,7 @@ CC_ONLY_CAR = {
   CAR.CADILLAC_XT5_CC,
   CAR.CHEVROLET_MALIBU_CC,
   CAR.CHEVROLET_MALIBU_HYBRID_CC,
+  CAR.CHEVROLET_SILVERADO_CC,
 }
 CC_REGEN_PADDLE_CAR = {
   CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -559,7 +576,7 @@ 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.BUICK_LACROSSE_ASCM}
 
 STEER_THRESHOLD = 1.0
 

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -7,7 +7,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
 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
+from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
@@ -297,6 +297,7 @@ 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 +319,7 @@ 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
 
@@ -376,6 +378,7 @@ 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 = []
 
@@ -527,6 +530,7 @@ 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
@@ -546,8 +550,13 @@ class CarController(CarControllerBase):
 
     # LFA and HDA icons
     if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
-      can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CS.stock_lfahda_cluster_msg,
-                                                          lfa_icon=lfa_icon))
+      if ccnc_non_hda2:
+        can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.long_active_ecu, CC.enabled, CC.hudControl,
+                                                  CC.leftBlinker, CC.rightBlinker, CS.msg_161, CS.msg_162, CS.msg_1b5,
+                                                  CS.is_metric, CS.out, CS.out.cruiseState.available, lfa_icon))
+      else:
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CS.stock_lfahda_cluster_msg,
+                                                            lfa_icon=lfa_icon))
 
     # blinkers
     if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -577,7 +586,12 @@ class CarController(CarControllerBase):
     if self.long_active_ecu:
       if lka_steering:
         can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-      else:
+        # Ioniq 5/6: front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
+        # 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))
+      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:
         rear_stale = now_nanos - CS.blindspots_rear_corners_ts > CANFD_BLINDSPOT_STATUS_STALE_NS
@@ -612,7 +626,8 @@ class CarController(CarControllerBase):
             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,
-                                                         set_speed_in_units, hud_control, **acc_kwargs))
+                                                         set_speed_in_units, hud_control, cruise_info=CS.cruise_info if ccnc_non_hda2 else None,
+                                                         **acc_kwargs))
         self.accel_last = accel
     else:
       # button presses

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -7,8 +7,8 @@ from opendbc.can import CANDefine, CANParser
 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, CAR, DBC, Buttons, CarControllerParams, \
-                                       hyundai_cancel_button_enables_cruise
+from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
+                                       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 +75,8 @@ 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.lda_button_raw = 0
+    self.lda_button_last_raw_rise_ts_nanos = 0
     self.left_paddle = 0
     self.mode_button = 0
     self.custom_button = 0
@@ -108,6 +111,9 @@ class CarState(CarStateBase):
     self.buttons_counter = 0
 
     self.cruise_info = {}
+    self.msg_161 = {}
+    self.msg_162 = {}
+    self.msg_1b5 = {}
     self.msg_364 = {}
     self.stock_lkas_msg = {}
     self.stock_lfa_msg = {}
@@ -168,9 +174,44 @@ class CarState(CarStateBase):
 
     return False
 
+  def create_alt_bus_lda_button_events(self, cp_source: CANParser) -> list[structs.CarState.ButtonEvent]:
+    if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_SWL_STAT_CARS:
+      raw_lda_button = int(cp_source.vl["CLU13"]["CF_Clu_SWL_Stat"] == 4)
+      raw_lda_button_ts_nanos = cp_source.ts_nanos["CLU13"]["CF_Clu_SWL_Stat"]
+    else:
+      raw_lda_button = int(cp_source.vl["CLU13"]["CF_Clu_LdwsLkasSW"])
+      raw_lda_button_ts_nanos = cp_source.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"]
+    button_events: list[structs.CarState.ButtonEvent] = []
+
+    # 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]:
+    # Some classic HKG platforms publish the LKAS button on the cluster bus instead of BCM_PO_11.
+    if 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 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)
@@ -304,14 +345,17 @@ 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.CP.flags & HyundaiFlags.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 cp_alt.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 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()
 
@@ -365,8 +409,16 @@ class CarState(CarStateBase):
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
 
-    left_blinker_sig, right_blinker_sig = self.get_canfd_blinker_sig_names(self.CP.carFingerprint,
-                                                                           cp.vl["BLINKERS"]["USE_ALT_LAMP"] == 1)
+    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
+    if ccnc_non_hda2:
+      self.msg_161 = copy.copy(cp_cam.vl["CCNC_0x161"])
+      self.msg_162 = copy.copy(cp_cam.vl["CCNC_0x162"])
+      self.msg_1b5 = copy.copy(cp_cam.vl["FR_CMR_03_50ms"])
+      cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
+      self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
+
+    use_alt_lamp = cp.vl["BLINKERS"]["USE_ALT_LAMP"] == 1 or bool(self.CP.flags & HyundaiFlags.CCNC)
+    left_blinker_sig, right_blinker_sig = self.get_canfd_blinker_sig_names(self.CP.carFingerprint, use_alt_lamp)
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                       cp.vl["BLINKERS"][right_blinker_sig])
     self.left_blindspot_from_radar = False
@@ -380,6 +432,9 @@ class CarState(CarStateBase):
                              self.left_blindspot_from_radar)
         ret.rightBlindspot = (bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"]) or
                               self.right_blindspot_from_radar)
+      elif self.CP.flags & HyundaiFlags.CCNC:
+        ret.leftBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"])
+        ret.rightBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"])
       else:
         ret.leftBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"])
         ret.rightBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"])
@@ -487,6 +542,11 @@ class CarState(CarStateBase):
     else:
       cam_msgs.append(("FR_CMR_02_100ms", 0))  # optional: not all non-LKA CANFD cars have this on CAM bus
       cam_msgs.append(("FR_CMR_03_50ms", 0))  # optional: camera lead/cipv data is not present on every CAN-FD trim
+      if CP.flags & HyundaiFlags.CCNC:
+        cam_msgs += [
+          ("CCNC_0x161", 0),
+          ("CCNC_0x162", 0),
+        ]
     msgs += [
       ("LFA", 0),             # optional: may stop once OP takes over, but preserve stock UI fields when present
       ("LFAHDA_CLUSTER", 0),  # optional: carries cluster icon state on some variants
@@ -506,11 +566,17 @@ 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

@@ -741,6 +741,27 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
+      b'\xf1\x00SX2EMFC  AT USA LHD 1.00 1.02 99211-BF000 230823',
+    ],
+  },
+  CAR.HYUNDAI_KONA_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.03 99211-BE000 230517',
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.07 99211-BE000 240611',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+    ],
+  },
+  CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.00 99211-BE001 241015',
+      b'\xf1\x00SX2HMFC  AT EUR RHD 1.00 1.04 99211-BE000 231010',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
     ],
   },
   CAR.KIA_NIRO_EV: {
@@ -1159,6 +1180,186 @@ FW_VERSIONS = {
       b'\xf1\x00NQ5__               1.00 1.04 99110CH100          ',
     ],
   },
+  CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MX5HMFC  AT CAN LHD 1.00 1.07 99211-P6000 231218',
+      b'\xf1\x00MX5HMFC  AT KOR LHD 1.00 1.07 99211-P6000 231218',
+      b'\xf1\x00MX5HMFC  AT USA LHD 1.00 1.06 99211-R6000 231218',
+      b'\xf1\x00MX5HMFC  AT USA LHD 1.00 1.09 99211-R6200 250519',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MX5_ RDR -----      1.00 1.01 99110-P6000         ',
+      b'\xf1\x00MX5_ RDR -----      1.00 1.01 99110-R6000         ',
+    ],
+  },
+  CAR.HYUNDAI_SONATA_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
+  CAR.HYUNDAI_SONATA_HEV_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
+  CAR.HYUNDAI_IONIQ_5_PE: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE__ RDR -----      1.00 1.00 99110-PI000         ',
+      b'\xf1\x00NE__ RDR -----      1.00 1.01 99110-GI500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE  MFC  AT USA LHD 1.00 1.01 99211-PI000 240905',
+      b'\xf1\x00NE  MFC  AT EUR LHD 1.00 1.03 99211-GI500 240809',
+      b'\xf1\x00NE  MFC  AT USA LHD 1.00 1.00 99211-PI010 250407',
+      b'\xf1\x00NE  MFC  AT EUR LHD 1.00 1.00 99211-GI510 250513',
+    ],
+  },
+  CAR.HYUNDAI_IONIQ_5_N: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE1N RDR -----      1.00 1.00 99110-NI000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.04 99211-NI000 231219',
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.00 99211-NI010 240712',
+      b'\xf1\x00NE1NMFC  AT USA LHD 1.00 1.04 99211-NI000 231219',
+    ],
+  },
+  CAR.HYUNDAI_IONIQ_9: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MEev RDR -----      1.00 1.00 99110-GO000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00ME  MFC  AT KOR LHD 1.00 1.00 99211-GO000 241007',
+      b'\xf1\x00ME  MFC  AT KOR LHD 1.00 1.01 99211-GO000 250103',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N7050 C5A',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_HEV_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_PHEV_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_SANTA_CRUZ_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110K5500          ',
+    ],
+  },
+  CAR.KIA_K4_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CL4 MFC  AT CAN LHD 1.00 1.02 99210-GG000 240708',
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.02 99210-GG000 240708',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG000         ',
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG100         ',
+    ],
+  },
+  CAR.KIA_K5_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L2500 240117',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DL3_ RDR -----      1.00 1.01 99110-L2500         ',
+    ],
+  },
+  CAR.KIA_SPORTAGE_2026: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ51.011.021.012551000HKP_NQ524_50509099211P1110',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NQ5__               1.00 1.04 99110P1100          ',
+    ],
+  },
+  CAR.KIA_SORENTO_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT AUS RHD 1.01 1.04 99210-P2550 231127',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
+    ],
+  },
+  CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.00 99210-P2600 250617',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
+    ],
+  },
+  CAR.KIA_EV6_2025: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CV__ RDR -----      1.00 1.00 99110-XG500         ',
+      b'\xf1\x00CV__ RDR -----      1.00 1.01 99110-CV500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CV  MFC  AT KOR LHD 1.00 1.01 99210-CV500 240405',
+      b'\xf1\x00CV  MFC  AT USA LHD 1.00 1.02 99210-XG500 241223',
+    ],
+  },
+  CAR.KIA_EV9: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MV__ RDR -----      1.00 1.02 99110-DO000         ',
+      b'\xf1\x00MV__ RDR -----      1.00 1.03 99110-DO000         ',
+      b'\xf1\x00MV__ RDR -----      1.00 1.04 99110-DO000         ',
+      b'\xf1\x00MV__ RDR -----      1.00 1.02 99110-DO700         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MV  MFC  AT KOR LHD 1.00 1.01 99211-DO000 230419',
+      b'\xf1\x00MV  MFC  AT USA LHD 1.00 1.02 99211-DO000 230616',
+      b'\xf1\x00MV  MFC  AT EUR LHD 1.00 1.02 99211-DO000 230616',
+      b'\xf1\x00MV  MFC  AT CAN LHD 1.00 1.00 99211-DO100 240403',
+      b'\xf1\x00MV  MFC  AT USA LHD 1.00 1.01 99211-XA000 241023',
+      b'\xf1\x00MV  MFC  AT CAN LHD 1.00 1.01 99211-DO100 241023',
+    ],
+  },
+  CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JK  MFC  AT USA LHD 1.00 1.03 99211-DS600 241125',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JK__ RDR -----      1.00 1.01 99110-DS500         ',
+    ],
+  },
+  CAR.GENESIS_GV80_2025: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JX__ RDR -----      1.00 1.03 99110-T6500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JX  MFC  AT USA LHD 1.00 1.03 99211-T6510 240124',
+    ],
+  },
   CAR.GENESIS_GV70_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JK1 MFC  AT CAN LHD 1.00 1.02 99211-IY000 230627',
@@ -1335,12 +1536,18 @@ 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/hyundaicanfd.py

@@ -1,6 +1,7 @@
 import copy
 import numpy as np
 from opendbc.car import CanBusBase, CanData
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags
 
@@ -219,6 +220,102 @@ def create_lfahda_cluster(packer, CAN, enabled, base_values=None, lfa_icon=None)
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
+def create_ccnc(packer, CAN, openpilot_longitudinal, enabled, hud, left_blinker, right_blinker, msg_161, msg_162, msg_1b5,
+                is_metric, out, main_cruise_enabled, lfa_icon):
+  for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"):
+    msg_162[fault] = 0
+
+  if msg_161["ALERTS_2"] == 5:
+    msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0})
+  if msg_161["ALERTS_3"] == 17:
+    msg_161["ALERTS_3"] = 0
+  if msg_161["ALERTS_5"] in (2, 5):
+    msg_161["ALERTS_5"] = 0
+  if msg_161["SOUNDS_4"] == 2 and msg_161["LFA_ICON"] in (3, 0):
+    msg_161["SOUNDS_4"] = 0
+
+  lane_change_speed_min = 8.9408
+  any_blinker = left_blinker or right_blinker
+  curvature = {i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i for i in range(-15, 16)}
+
+  msg_161.update({
+    "DAW_ICON": 0,
+    "LKA_ICON": 0,
+    "LFA_ICON": 2 if lfa_icon else 0,
+    "CENTERLINE": 1 if lfa_icon else 0,
+    "LANELINE_CURVATURE": curvature.get(max(-15, min(int(out.steeringAngleDeg / 4.5), 15)), 14) if lfa_icon and not any_blinker else 15,
+    "LANELINE_LEFT": 0 if not lfa_icon else 1 if not hud.leftLaneVisible else 4 if hud.leftLaneDepart else 6 if any_blinker else 2,
+    "LANELINE_RIGHT": 0 if not lfa_icon else 1 if not hud.rightLaneVisible else 4 if hud.rightLaneDepart else 6 if any_blinker else 2,
+    "LCA_LEFT_ICON": 0 if not lfa_icon or out.vEgo < lane_change_speed_min else 1 if out.leftBlindspot else 2 if any_blinker else 4,
+    "LCA_RIGHT_ICON": 0 if not lfa_icon or out.vEgo < lane_change_speed_min else 1 if out.rightBlindspot else 2 if any_blinker else 4,
+    "LCA_LEFT_ARROW": 2 if left_blinker else 0,
+    "LCA_RIGHT_ARROW": 2 if right_blinker else 0,
+  })
+
+  if lfa_icon and any_blinker:
+    left_lane_raw = msg_1b5["Info_LftLnPosVal"]
+    right_lane_raw = msg_1b5["Info_RtLnPosVal"]
+    scale_per_m = 15 / 1.7
+    left_lane = abs(int(round(15 + (left_lane_raw - 1.7) * scale_per_m)))
+    right_lane = abs(int(round(15 + (right_lane_raw - 1.7) * scale_per_m)))
+
+    if msg_1b5["Info_LftLnQualSta"] not in (2, 3):
+      left_lane = 0
+    if msg_1b5["Info_RtLnQualSta"] not in (2, 3):
+      right_lane = 0
+
+    if left_lane_raw == -2.0248375:
+      left_lane = 30 - right_lane
+    if right_lane_raw == 2.0248375:
+      right_lane = 30 - left_lane
+
+    if left_lane_raw == right_lane_raw == 0:
+      left_lane = right_lane = 15
+    elif left_lane_raw == 0:
+      left_lane = 30 - right_lane
+    elif right_lane_raw == 0:
+      right_lane = 30 - left_lane
+
+    total = left_lane + right_lane
+    if total == 0:
+      left_lane = right_lane = 15
+    else:
+      left_lane = round((left_lane / total) * 30)
+      right_lane = 30 - left_lane
+
+    msg_161["LANELINE_LEFT_POSITION"] = left_lane
+    msg_161["LANELINE_RIGHT_POSITION"] = right_lane
+
+  if hud.leftLaneDepart or hud.rightLaneDepart:
+    msg_162["VIBRATE"] = 1
+
+  if openpilot_longitudinal:
+    if msg_161["ALERTS_3"] in (1, 2, 3, 4, 7, 8, 9, 10):
+      msg_161["ALERTS_3"] = 0
+    if msg_161["ALERTS_5"] == 4:
+      msg_161["ALERTS_5"] = 0
+    if msg_161["SOUNDS_3"] == 5:
+      msg_161["SOUNDS_3"] = 0
+
+    cruise_speed = round(out.vCruiseCluster * (1 if is_metric else CV.KPH_TO_MPH))
+    msg_161.update({
+      "SETSPEED": 3 if enabled else 1,
+      "SETSPEED_HUD": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SETSPEED_SPEED": 255 if not main_cruise_enabled else (40 if is_metric else 25) if cruise_speed > (145 if is_metric else 90) else cruise_speed,
+      "DISTANCE": hud.leadDistanceBars,
+      "DISTANCE_SPACING": 0 if not main_cruise_enabled else 1 if enabled else 3,
+      "DISTANCE_LEAD": 0 if not main_cruise_enabled else 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
+      "DISTANCE_CAR": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SLA_ICON": 0,
+      "NAV_ICON": 0,
+      "TARGET": 0,
+    })
+    msg_162["LEAD"] = 0 if not main_cruise_enabled else 2 if enabled else 1
+    msg_162["LEAD_DISTANCE"] = msg_1b5["Longitudinal_Distance"]
+
+  return [packer.make_can_msg(msg, CAN.ECAN, values) for msg, values in (("CCNC_0x161", msg_161), ("CCNC_0x162", msg_162))]
+
+
 def create_blindspot_status_messages(packer, CAN, rear_values, front_corner_values,
                                      left_blindspot=False, right_blindspot=False,
                                      left_blinker=False, right_blinker=False):
@@ -463,7 +560,7 @@ def create_ioniq_6_cluster_lane_change_messages(CAN, frame, side=None):
 
 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
                        main_mode_acc=1, jerk_lower=None, jerk_upper=None, direct_accel=False,
-                       lead_distance=None, lead_rel_speed=None, lead_visible=None):
+                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -506,6 +603,8 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
     "SET_ME_TMP_64": 0x64,
     "DISTANCE_SETTING": hud_control.leadDistanceBars,
   }
+  if cruise_info:
+    values.update({s: cruise_info[s] for s in ("ACC_ObjDist", "ACC_ObjRelSpd")})
 
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
@@ -603,3 +702,22 @@ def hkg_can_fd_checksum(address: int, sig, d: bytearray) -> int:
   elif len(d) == 32:
     crc ^= 0x9F5B
   return crc
+
+
+# Ioniq 5/6 / HKG LKA-steering: ADAS_DRV broadcasts ACCELERATOR_BRAKE_ALT (0x100) on bus 0.
+# The front radar uses this as its "host alive" heartbeat. When we disable ADAS_DRV the
+# 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.
+_ACCEL_BRAKE_ALT_TEMPLATE = bytes.fromhex("000000020000fcff000000000020000055ff000068000000")
+
+def create_accelerator_brake_alt_spoof(bus: int, counter: int, brake_pressed: bool, accelerator_pressed: bool) -> CanData:
+  d = bytearray(_ACCEL_BRAKE_ALT_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)
+  crc = hkg_can_fd_checksum(0x100, None, d)
+  d[0] = crc & 0xFF
+  d[1] = (crc >> 8) & 0xFF
+  return CanData(0x100, bytes(d), bus)

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -1,12 +1,15 @@
 import time
-from opendbc.car import Bus, get_safety_config, structs, uds
+from opendbc.car import get_safety_config, structs, uds
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CarControllerParams, \
+from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    CANFD_SECURITYACCESS_CAR, \
+                                                   CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                                   RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
+                                                   HyundaiStarPilotSafetyFlags, \
                                                    hyundai_cancel_button_enables_cruise
-from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
+from opendbc.car.hyundai.radar_interface import get_radar_track_config
 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
@@ -21,6 +24,7 @@ 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:
@@ -42,6 +46,18 @@ 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
@@ -70,6 +86,9 @@ 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.
+        ret.alphaLongitudinalAvailable = False
 
       ret.enableBsm = 0x1ba in fingerprint[CAN.ECAN]
 
@@ -115,6 +134,8 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
         ret.steerControlType = structs.CarParams.SteerControlType.angle
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value
+      if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
+        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value
 
     else:
       # Shared configuration for non CAN-FD cars
@@ -128,6 +149,8 @@ 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
@@ -138,9 +161,9 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & HyundaiFlags.CAMERA_SCC:
         ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
 
-      # These cars have the LFA button on the steering wheel
+      # These cars expose an LKAS/LFA steering-wheel button that StarPilot can customize.
       if 0x391 in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
-        ret.flags |= HyundaiFlags.HAS_LDA_BUTTON.value
+        ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
       if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_CANFD_BLENDED.value
       if hyundai_cancel_button_enables_cruise(candidate):
@@ -168,13 +191,13 @@ class CarInterface(CarInterfaceBase):
 
     # Common longitudinal control setup
 
-    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint]
+    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
     if ret.flags & HyundaiFlags.NON_SCC:
       ret.alphaLongitudinalAvailable = False
     ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
-    # When longitudinal is enabled, we disable the ADAS ECU which stops radar messages
-    # Force radarUnavailable to prevent CAN Error from missing radar messages
-    if ret.openpilotLongitudinalControl:
+    if ret.openpilotLongitudinalControl and not (candidate in RADAR_LIVE_LONGITUDINAL_CAR and radar_tracks_available):
       ret.radarUnavailable = True
     ret.pcmCruise = not ret.openpilotLongitudinalControl
     apply_platform_longitudinal_params(ret)
@@ -191,6 +214,8 @@ class CarInterface(CarInterfaceBase):
     # Car specific configuration overrides
 
     if candidate == CAR.GENESIS_G90:
+      ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
+      ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
       ret.stoppingDecelRate = 0.55
       ret.vEgoStopping = 0.8
 
@@ -226,7 +251,7 @@ class CarInterface(CarInterfaceBase):
     params = Params()
 
     if communication_control is None:
-      if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
+      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
         # Don't use 0x80 suppress bit so we can read the ECU response.
         # Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
         # while blocking SCC TX.

opendbc_repo/opendbc/car/hyundai/radar_interface.py

@@ -1,31 +1,80 @@
 import math
+from dataclasses import dataclass
 
 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
+from opendbc.car.hyundai.values import CAR, DBC, 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
+MRR35_RADAR_MSG_COUNT = 32
+
+
+@dataclass(frozen=True)
+class RadarTrackConfig:
+  start_addr: int
+  msg_count: int
+  radar_type: str
+  bus: int = 1
+  frequency: int = 50
+  parser_msg_count: 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_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),
+  HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0, frequency=20),
+}
 
 # POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
 
 
-def get_radar_can_parser(CP):
-  if Bus.radar not in DBC[CP.carFingerprint]:
+def get_radar_track_config(car_fingerprint) -> RadarTrackConfig | None:
+  radar_dbc = DBC[car_fingerprint].get(Bus.radar)
+  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)
+  return RADAR_TRACK_CONFIGS.get(radar_dbc)
+
+
+def get_radar_can_parser(CP, radar_config):
+  if radar_config is None:
     return None
 
-  messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
-  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, 1)
+  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.updated_messages = set()
-    self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
+    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,
@@ -33,7 +82,16 @@ class RadarInterface(RadarInterfaceBase):
     self.ioniq_6_radar_probe = CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and CP.openpilotLongitudinalControl and self.radar_off_can
     self.ioniq_6_radar_probe_logged = False
     self.ioniq_6_radar_probe_updates = 0
-    self.rcp = get_radar_can_parser(CP)
+    self.rcp = get_radar_can_parser(CP, self.radar_config)
+
+    # Precompute (addr, "RADAR_TRACK_xxx") pairs once. _update runs on the
+    # CAN-driven card loop (core 4, shared with controlsd/selfdrived), so avoid
+    # rebuilding 32 f-strings per radar frame.
+    self.track_addrs: list[tuple[int, str]] = []
+    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.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:
@@ -56,6 +114,8 @@ 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
@@ -65,6 +125,46 @@ 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:
@@ -73,8 +173,77 @@ class RadarInterface(RadarInterfaceBase):
     if not self.rcp.can_valid:
       ret.errors.canError = True
 
-    for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
-      msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
+    if self.radar_config is None:
+      return ret
+
+    radar_type = self.radar_config.radar_type
+    vl = self.rcp.vl
+
+    for addr, track_name in self.track_addrs:
+      msg = vl[track_name]
+
+      if radar_type == "mrr30":
+        for i in ("1", "2"):
+          track_key = addr * 2 + int(i) - 1
+          if track_key not in self.pts:
+            self.pts[track_key] = structs.RadarData.RadarPoint()
+            self.pts[track_key].trackId = self.track_id
+            self.track_id += 1
+
+          valid = msg[f"{i}_STATE"] in (3, 4)
+          if valid:
+            pt = self.pts[track_key]
+            pt.measured = True
+            pt.dRel = msg[f"{i}_LONG_DIST"]
+            pt.yRel = msg[f"{i}_LAT_DIST"]
+            pt.vRel = msg[f"{i}_REL_SPEED"]
+            pt.aRel = float("nan")
+            pt.yvRel = float("nan")
+          else:
+            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
+        # alloc-then-delete churn on the ~27 idle channels.
+        if msg["STATE"] in (3, 4):
+          pt = self.pts.get(addr)
+          if pt is None:
+            pt = structs.RadarData.RadarPoint()
+            pt.trackId = self.track_id
+            self.track_id += 1
+            self.pts[addr] = pt
+          pt.measured = True
+          pt.dRel = msg["LONG_DIST"]
+          pt.yRel = msg["LAT_DIST"]
+          pt.vRel = msg["REL_SPEED"]
+          pt.aRel = msg["REL_ACCEL"]
+          pt.yvRel = float("nan")
+        elif addr in self.pts:
+          del self.pts[addr]
+        continue
 
       if addr not in self.pts:
         self.pts[addr] = structs.RadarData.RadarPoint()

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -14,11 +14,13 @@ from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, dec
 from opendbc.car.hyundai.interface import CarInterface
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
+from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
+                                             RADAR_START_ADDR, get_radar_track_config
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
-                                         CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, Buttons
+                                         CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
+                                         HyundaiStarPilotSafetyFlags, Buttons, GENESIS_G90_STEER_MAX, HYUNDAI_PALISADE_2023_STEER_MAX
 
 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -32,7 +34,12 @@ NO_DATES_PLATFORMS = {
   CAR.KIA_SPORTAGE_5TH_GEN,
   CAR.KIA_SPORTAGE_HEV_2026,
   CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  CAR.HYUNDAI_SANTA_CRUZ_2025,
   CAR.HYUNDAI_TUCSON_4TH_GEN,
+  CAR.HYUNDAI_TUCSON_2025,
+  CAR.HYUNDAI_TUCSON_HEV_2025,
+  CAR.HYUNDAI_TUCSON_PHEV_2025,
+  CAR.KIA_SPORTAGE_2026,
   # CAN
   CAR.HYUNDAI_ELANTRA,
   CAR.HYUNDAI_ELANTRA_GT_I30,
@@ -65,6 +72,37 @@ HYUNDAI_NON_SCC_CARS = (
 )
 HYUNDAI_NON_SCC_FW_CARS = tuple(car_model for car_model in HYUNDAI_NON_SCC_CARS if car_model in FW_VERSIONS)
 
+CCNC_NON_HDA2_CARS = (
+  CAR.HYUNDAI_KONA_2ND_GEN,
+  CAR.HYUNDAI_KONA_HEV_2ND_GEN,
+  CAR.HYUNDAI_KONA_EV_2ND_GEN,
+  CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
+  CAR.HYUNDAI_SONATA_2024,
+  CAR.HYUNDAI_SONATA_HEV_2024,
+  CAR.HYUNDAI_IONIQ_5_N,
+  CAR.HYUNDAI_TUCSON_2025,
+  CAR.HYUNDAI_TUCSON_HEV_2025,
+  CAR.HYUNDAI_TUCSON_PHEV_2025,
+  CAR.HYUNDAI_SANTA_CRUZ_2025,
+  CAR.KIA_K4_2025,
+  CAR.KIA_K5_2025,
+  CAR.KIA_SPORTAGE_2026,
+  CAR.KIA_SORENTO_2024,
+)
+
+ANGLE_STEERING_CARS = (
+  CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
+  CAR.HYUNDAI_IONIQ_5_PE,
+  CAR.HYUNDAI_IONIQ_9,
+  CAR.KIA_SPORTAGE_2026,
+  CAR.KIA_SPORTAGE_HEV_2026,
+  CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2,
+  CAR.KIA_EV6_2025,
+  CAR.KIA_EV9,
+  CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
+  CAR.GENESIS_GV80_2025,
+)
+
 
 def get_test_toggles() -> SimpleNamespace:
   return SimpleNamespace(always_on_lateral_lkas=False, force_torque_controller=False, nnff=False, nnff_lite=False)
@@ -83,12 +121,87 @@ class TestHyundaiFingerprint:
         assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
 
     # radar available
-    for radar in (True, False):
-      fingerprint = gen_empty_fingerprint()
-      if radar:
-        fingerprint[1][RADAR_START_ADDR] = 8
-      CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False, None)
-      assert CP.radarUnavailable != radar
+    for candidate in (
+      CAR.HYUNDAI_IONIQ,
+      CAR.HYUNDAI_IONIQ_EV_LTD,
+      CAR.HYUNDAI_SANTA_FE,
+      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_K5_HEV_2020,
+      CAR.KIA_NIRO_EV,
+      CAR.KIA_NIRO_PHEV,
+      CAR.KIA_NIRO_PHEV_2022,
+      CAR.GENESIS_G70_2020,
+      CAR.GENESIS_G90,
+    ):
+      assert get_radar_track_config(candidate).start_addr == RADAR_START_ADDR
+      for radar in (True, False):
+        fingerprint = gen_empty_fingerprint()
+        if radar:
+          fingerprint[1][RADAR_START_ADDR] = 8
+        CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+        assert CP.radarUnavailable != radar
+
+    assert get_radar_track_config(CAR.HYUNDAI_SONATA_HYBRID).msg_count == 32
+    assert get_radar_track_config(CAR.GENESIS_G90).msg_count == 64
+    assert get_radar_track_config(CAR.GENESIS_G90).can_parser_msg_count == 32
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[1][RADAR_START_ADDR] = 8
+    for candidate in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SONATA_HYBRID, CAR.GENESIS_G90):
+      CP = CarInterface.get_params(candidate, fingerprint, [], True, False, False, None)
+      assert CP.openpilotLongitudinalControl
+      assert not CP.radarUnavailable
+
+    for candidate, radar_addr in (
+      (CAR.HYUNDAI_KONA_EV_2022, MRREVO14F_RADAR_START_ADDR),
+      (CAR.HYUNDAI_IONIQ_5, MRR30_RADAR_START_ADDR),
+      (CAR.HYUNDAI_IONIQ_5_N, MRR30_RADAR_START_ADDR),
+      (CAR.KIA_EV6, MRR30_RADAR_START_ADDR),
+      (CAR.KIA_EV6_2025, MRR30_RADAR_START_ADDR),
+      (CAR.GENESIS_GV60_EV_1ST_GEN, MRR30_RADAR_START_ADDR),
+      (CAR.HYUNDAI_KONA_EV_2ND_GEN, MRR35_RADAR_START_ADDR),
+      (CAR.HYUNDAI_IONIQ_6, MRR35_RADAR_START_ADDR),
+      (CAR.HYUNDAI_IONIQ_9, MRR35_RADAR_START_ADDR),
+    ):
+      radar_config = get_radar_track_config(candidate)
+      assert radar_config.start_addr == radar_addr
+      for radar in (True, False):
+        fingerprint = gen_empty_fingerprint()
+        if radar:
+          fingerprint[radar_config.bus][radar_addr] = 8
+        CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+        assert CP.radarUnavailable != radar
+
+    assert get_radar_track_config(CAR.HYUNDAI_KONA_EV_2022).bus == 1
+    assert get_radar_track_config(CAR.HYUNDAI_IONIQ_5).bus == 0
+    assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).start_addr == MRR35_RADAR_START_ADDR
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[1][MRR35_RADAR_START_ADDR] = 24
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], False, False, False, None)
+    assert not CP.openpilotLongitudinalControl
+    assert CP.radarUnavailable
+
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, None)
+    assert CP.openpilotLongitudinalControl
+    assert CP.radarUnavailable
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[get_radar_track_config(CAR.HYUNDAI_IONIQ_6).bus][MRR35_RADAR_START_ADDR] = 24
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], True, False, False, None)
+    assert CP.openpilotLongitudinalControl
+    assert not CP.radarUnavailable
+    assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).frequency == 20
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[CanBus(None, fingerprint).CAM][0x50] = 32
+    fingerprint[get_radar_track_config(CAR.HYUNDAI_IONIQ_5).bus][MRR30_RADAR_START_ADDR] = 32
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_5, fingerprint, [], True, False, False, None)
+    assert CP.openpilotLongitudinalControl
+    assert not CP.radarUnavailable
 
     for candidate in HYUNDAI_NON_SCC_CARS:
       CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, None)
@@ -106,12 +219,42 @@ class TestHyundaiFingerprint:
     CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
     assert CP.flags & HyundaiFlags.SEND_LFA
 
+  @pytest.mark.parametrize("candidate", CCNC_NON_HDA2_CARS)
+  def test_ccnc_non_hda2_platforms_set_ccnc_safety(self, candidate):
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
+
+    assert CP.flags & HyundaiFlags.CCNC
+    assert CP.flags & HyundaiFlags.CANFD_CAMERA_SCC
+    assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CCNC
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAMERA_SCC
+
+  @pytest.mark.parametrize("candidate", ANGLE_STEERING_CARS)
+  def test_angle_steering_platforms_use_angle_control(self, candidate):
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
+
+    assert CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING
+    assert CP.steerControlType == CarParams.SteerControlType.angle
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_ANGLE_STEERING
+
+  def test_ccnc_hda2_lka_layout_does_not_set_ccnc_safety_param(self):
+    fingerprint = gen_empty_fingerprint()
+    cam_can = CanBus(None, fingerprint).CAM
+    fingerprint[cam_can] = {0x50: 16}
+
+    CP = CarInterface.get_params(CAR.KIA_K4_2025, fingerprint, [], False, False, False, None)
+
+    assert CP.flags & HyundaiFlags.CCNC
+    assert CP.flags & HyundaiFlags.CANFD_LKA_STEERING
+    assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CCNC)
+
   def test_ioniq_6_hda1_layout_stays_non_lka(self):
     fingerprint = gen_empty_fingerprint()
     fingerprint[1] = {0x100: 8, 0x110: 8}
 
     CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], False, False, False, None)
 
+    assert not (CP.flags & HyundaiFlags.CCNC)
     assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
     assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
 
@@ -121,10 +264,47 @@ class TestHyundaiFingerprint:
     assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_CANFD_BLENDED
     assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANCEL_BTN_ENABLE
 
+  def test_hyundai_lkas_button_sets_starpilot_safety_flag(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+
+    sonata = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False, None)
+    assert sonata.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x50C] = 8
+    forte_non_scc = CarInterface.get_params(CAR.KIA_FORTE_2021_NON_SCC, fingerprint, [], False, False, False, None)
+    assert forte_non_scc.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+
+    g90 = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], False, False, False, None)
+    assert g90.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+    assert g90.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE
+
+    sonata_without_lda = CarInterface.get_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], False, False, False, None)
+    assert not (sonata_without_lda.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON)
+
+    palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
+    assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+
   def test_non_scc_flag_quirks(self):
     elantra_hev = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
     assert elantra_hev.flags & HyundaiFlags.HYBRID
 
+    kona = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
+    assert not (kona.flags & HyundaiFlags.NON_SCC_RADAR_FCA)
+    assert kona.radarUnavailable
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x38d] = 8
+    fingerprint[1][MRREVO14F_RADAR_START_ADDR] = 8
+    kona_radar_fca = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, fingerprint, [], True, False, False, None)
+    assert kona_radar_fca.flags & HyundaiFlags.NON_SCC_RADAR_FCA
+    assert not kona_radar_fca.radarUnavailable
+
+    car_fw = [CarParams.CarFw(ecu=Ecu.fwdRadar, fwVersion=b"", address=0x7d0, brand="hyundai")]
+    kona_radar_fw = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), car_fw, True, False, False, None)
+    assert kona_radar_fw.flags & HyundaiFlags.NON_SCC_RADAR_FCA
+
     forte_2019 = CarInterface.get_params(CAR.KIA_FORTE_2019_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
     assert forte_2019.flags & HyundaiFlags.NON_SCC_NO_FCA
     assert not (forte_2019.flags & HyundaiFlags.NON_SCC_RADAR_FCA)
@@ -180,6 +360,46 @@ class TestHyundaiFingerprint:
     assert canfd_alt_buttons_cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS
     assert not canfd_alt_buttons_fpcp.redneckCruiseAvailable
 
+  def test_hyundai_full_long_keeps_redneck_cruise_disabled(self, monkeypatch):
+    class FakeParams:
+      def __init__(self, *args, **kwargs):
+        pass
+
+      @staticmethod
+      def get_bool(key):
+        return key == "RedneckCruise"
+
+    toggles = get_test_toggles()
+    monkeypatch.setattr("opendbc.car.interfaces.Params", FakeParams)
+
+    for candidate in (CAR.HYUNDAI_SONATA, CAR.KIA_FORTE):
+      CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, toggles)
+      FPCP = CarInterface.get_starpilot_params(candidate, gen_empty_fingerprint(), [], CP, toggles)
+
+      assert CP.openpilotLongitudinalControl
+      assert not FPCP.redneckCruiseAvailable
+      assert FPCP.pcmCruiseSpeed
+
+  def test_hyundai_scc_stock_long_keeps_redneck_cruise_disabled(self, monkeypatch):
+    class FakeParams:
+      def __init__(self, *args, **kwargs):
+        pass
+
+      @staticmethod
+      def get_bool(key):
+        return key == "RedneckCruise"
+
+    toggles = get_test_toggles()
+    monkeypatch.setattr("opendbc.car.interfaces.Params", FakeParams)
+
+    for candidate in (CAR.HYUNDAI_SONATA, CAR.KIA_FORTE, CAR.HYUNDAI_IONIQ_6):
+      CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, toggles)
+      FPCP = CarInterface.get_starpilot_params(candidate, gen_empty_fingerprint(), [], CP, toggles)
+
+      assert not CP.openpilotLongitudinalControl
+      assert not FPCP.redneckCruiseAvailable
+      assert FPCP.pcmCruiseSpeed
+
   def test_palisade_2023_pause_resume_button_maps_to_enable(self):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -283,6 +503,24 @@ class TestHyundaiFingerprint:
   def test_kona_ev_non_scc_has_no_dedicated_fw_coverage(self):
     assert CAR.HYUNDAI_KONA_EV_NON_SCC not in FW_VERSIONS
 
+  def test_kona_non_scc_fca_radar_fw_is_optional(self):
+    fw_versions = FW_VERSIONS[CAR.HYUNDAI_KONA_NON_SCC]
+    car_fw = [
+      CarParams.CarFw(
+        ecu=ecu,
+        fwVersion=versions[0],
+        address=address,
+        subAddress=0 if sub_address is None else sub_address,
+        brand="hyundai",
+      )
+      for (ecu, address, sub_address), versions in fw_versions.items()
+      if ecu != Ecu.fwdRadar
+    ]
+
+    exact, matches = match_fw_to_car(car_fw, "", allow_exact=True, allow_fuzzy=False, log=False)
+    assert exact
+    assert CAR.HYUNDAI_KONA_NON_SCC in matches
+
   def test_kia_forte_2019_non_scc_does_not_require_fca11_or_scc12(self):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.KIA_FORTE_2019_NON_SCC, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -400,6 +638,78 @@ class TestHyundaiFingerprint:
     ret = update(0, 3)
     assert any(be.type == ButtonType.altButton2 and not be.pressed for be in ret.buttonEvents)
 
+  def test_forte_non_scc_clu13_lkas_button_event(self):
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x50C] = 8
+    CP = CarInterface.get_params(CAR.KIA_FORTE_2021_NON_SCC, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_FORTE_2021_NON_SCC, fingerprint, [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+    def update(lkas_button: int, frame: int):
+      msg = packer.make_can_msg("CLU13", 0, {
+        "CF_Clu_LdwsLkasSW": lkas_button,
+      })
+      can_parsers[Bus.pt].update([(frame, [msg])])
+      return car_state.update(can_parsers, toggles)[0]
+
+    update(0, 1)
+    ret = update(1, 2)
+    assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
+
+    ret = update(0, 3)
+    assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
+
+  def test_sonata_hybrid_uses_alt_bus_lkas_parser(self):
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+    fingerprint[1][0x50C] = 8
+    CP = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+
+    assert Bus.alt in can_parsers
+
+  def test_sonata_hybrid_alt_bus_clu13_lkas_button_event(self):
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+    fingerprint[1][0x50C] = 8
+    CP = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+    def update(lkas_button: int, frame: int):
+      msg = packer.make_can_msg("CLU13", 1, {
+        "CF_Clu_SWL_Stat": lkas_button,
+      })
+      can_parsers[Bus.alt].update([(frame, [msg])])
+      return car_state.update(can_parsers, toggles)[0]
+
+    update(0, 1)
+    ret = update(4, 2)
+    assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
+    assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
+
+  def test_genesis_g90_does_not_use_alt_bus_lkas_parser(self):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+
+    assert Bus.alt not in can_parsers
+
   def test_ioniq_6_longitudinal_params_match_canfd_tune(self):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -604,6 +914,124 @@ class TestHyundaiFingerprint:
     assert parser.vl["SCC_CONTROL"]["ObjValid"] == 1
     assert parser.vl["SCC_CONTROL"]["OBJ_STATUS"] == 0
 
+  def test_canfd_acc_control_preserves_stock_ccnc_object_fields(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_SONATA_2024
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CCNC)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("SCC_CONTROL", 0)], can_bus.ECAN)
+
+    msg = hyundaicanfd.create_acc_control(packer, can_bus, enabled=True, accel_last=0.0, accel=0.1, stopping=False,
+                                          gas_override=False, set_speed=42, hud_control=SimpleNamespace(leadDistanceBars=3),
+                                          direct_accel=True, lead_distance=27.5, lead_rel_speed=-1.2, lead_visible=True,
+                                          cruise_info={"ACC_ObjDist": 13.5, "ACC_ObjRelSpd": -0.4})
+    parser.update([(1, [msg])])
+
+    assert parser.can_valid
+    assert parser.vl["SCC_CONTROL"]["ACC_ObjDist"] == pytest.approx(13.5)
+    assert parser.vl["SCC_CONTROL"]["ACC_ObjRelSpd"] == pytest.approx(-0.4)
+
+  def test_ccnc_hud_helper_clears_faults_and_generates_ui_fields(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_SONATA_2024
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CCNC)
+    CP.openpilotLongitudinalControl = True
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CCNC_0x161", 0), ("CCNC_0x162", 0)], can_bus.ECAN)
+
+    msg_161 = {
+      "ALERTS_2": 5,
+      "ALERTS_3": 17,
+      "ALERTS_5": 5,
+      "SOUNDS_3": 5,
+      "SOUNDS_4": 2,
+      "LFA_ICON": 3,
+    }
+    msg_162 = {fault: 1 for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS")}
+    msg_162["VIBRATE"] = 0
+    msg_1b5 = {
+      "Info_LftLnPosVal": 1.4,
+      "Info_RtLnPosVal": 1.9,
+      "Info_LftLnQualSta": 3,
+      "Info_RtLnQualSta": 3,
+      "Longitudinal_Distance": 42.0,
+    }
+    hud = SimpleNamespace(leftLaneVisible=True, rightLaneVisible=True, leftLaneDepart=True, rightLaneDepart=False,
+                          leadDistanceBars=3, leadVisible=True)
+    out = SimpleNamespace(steeringAngleDeg=22.5, vEgo=15.0, leftBlindspot=True, rightBlindspot=False,
+                          vCruiseCluster=88.0)
+
+    msgs = hyundaicanfd.create_ccnc(packer, can_bus, openpilot_longitudinal=True, enabled=True, hud=hud,
+                                    left_blinker=False, right_blinker=False, msg_161=msg_161, msg_162=msg_162,
+                                    msg_1b5=msg_1b5, is_metric=False, out=out, main_cruise_enabled=True, lfa_icon=2)
+    parser.update([(1, msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["CCNC_0x161"]["DAW_ICON"] == 0
+    assert parser.vl["CCNC_0x161"]["LKA_ICON"] == 0
+    assert parser.vl["CCNC_0x161"]["LFA_ICON"] == 2
+    assert parser.vl["CCNC_0x161"]["CENTERLINE"] == 1
+    assert parser.vl["CCNC_0x161"]["LANELINE_CURVATURE"] == 20
+    assert parser.vl["CCNC_0x161"]["LANELINE_LEFT"] == 4
+    assert parser.vl["CCNC_0x161"]["LANELINE_RIGHT"] == 2
+    assert parser.vl["CCNC_0x161"]["LCA_LEFT_ICON"] == 1
+    assert parser.vl["CCNC_0x161"]["LCA_RIGHT_ICON"] == 4
+    assert parser.vl["CCNC_0x161"]["ALERTS_2"] == 0
+    assert parser.vl["CCNC_0x161"]["ALERTS_3"] == 0
+    assert parser.vl["CCNC_0x161"]["ALERTS_5"] == 0
+    assert parser.vl["CCNC_0x161"]["SOUNDS_3"] == 0
+    assert parser.vl["CCNC_0x161"]["SOUNDS_4"] == 0
+    assert parser.vl["CCNC_0x161"]["SETSPEED"] == 3
+    assert parser.vl["CCNC_0x161"]["SETSPEED_HUD"] == 2
+    assert parser.vl["CCNC_0x161"]["SETSPEED_SPEED"] == 55
+    assert parser.vl["CCNC_0x161"]["DISTANCE"] == 3
+    assert parser.vl["CCNC_0x161"]["DISTANCE_LEAD"] == 2
+    assert all(parser.vl["CCNC_0x162"][fault] == 0 for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"))
+    assert parser.vl["CCNC_0x162"]["VIBRATE"] == 1
+    assert parser.vl["CCNC_0x162"]["LEAD"] == 2
+    assert parser.vl["CCNC_0x162"]["LEAD_DISTANCE"] == pytest.approx(42.0)
+
+  def test_ccnc_hud_helper_generates_lane_position_animation_and_lca_arrows(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_SONATA_2024
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CCNC)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CCNC_0x161", 0), ("CCNC_0x162", 0)], can_bus.ECAN)
+    hud = SimpleNamespace(leftLaneVisible=True, rightLaneVisible=True, leftLaneDepart=False, rightLaneDepart=False,
+                          leadDistanceBars=1, leadVisible=False)
+    out = SimpleNamespace(steeringAngleDeg=0.0, vEgo=15.0, leftBlindspot=False, rightBlindspot=False,
+                          vCruiseCluster=55.0)
+    msg_1b5 = {
+      "Info_LftLnPosVal": 1.4,
+      "Info_RtLnPosVal": 1.9,
+      "Info_LftLnQualSta": 3,
+      "Info_RtLnQualSta": 3,
+      "Longitudinal_Distance": 0.0,
+    }
+
+    msgs = hyundaicanfd.create_ccnc(packer, can_bus, openpilot_longitudinal=False, enabled=True, hud=hud,
+                                    left_blinker=True, right_blinker=False,
+                                    msg_161={"ALERTS_2": 0, "ALERTS_3": 0, "ALERTS_5": 0, "SOUNDS_4": 0, "LFA_ICON": 2},
+                                    msg_162={fault: 0 for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS")},
+                                    msg_1b5=msg_1b5, is_metric=True, out=out, main_cruise_enabled=True, lfa_icon=2)
+    parser.update([(1, msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["CCNC_0x161"]["LANELINE_CURVATURE"] == 15
+    assert parser.vl["CCNC_0x161"]["LANELINE_LEFT"] == 6
+    assert parser.vl["CCNC_0x161"]["LANELINE_RIGHT"] == 6
+    assert parser.vl["CCNC_0x161"]["LCA_LEFT_ICON"] == 2
+    assert parser.vl["CCNC_0x161"]["LCA_LEFT_ARROW"] == 2
+    assert parser.vl["CCNC_0x161"]["LCA_RIGHT_ARROW"] == 0
+    assert parser.vl["CCNC_0x161"]["LANELINE_LEFT_POSITION"] == 12
+    assert parser.vl["CCNC_0x161"]["LANELINE_RIGHT_POSITION"] == 18
+
   def test_canfd_scc_lead_state_prefers_openpilot_lead_distance(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_EV6
@@ -1075,6 +1503,16 @@ class TestHyundaiFingerprint:
     assert sportage_params.ANGLE_LIMITS.MAX_ANGLE_RATE > comparison_params.ANGLE_LIMITS.MAX_ANGLE_RATE
     assert comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK == ioniq6_params.ANGLE_LIMITS.MAX_LATERAL_JERK
 
+  def test_g90_and_palisade_2023_steer_max_limits(self):
+    g90 = CarParams.new_message()
+    g90.carFingerprint = CAR.GENESIS_G90
+    assert CarControllerParams(g90).STEER_MAX == GENESIS_G90_STEER_MAX
+
+    palisade_2023 = CarParams.new_message()
+    palisade_2023.carFingerprint = CAR.HYUNDAI_PALISADE_2023
+    palisade_2023.flags = int(HyundaiFlags.CAN_CANFD_BLENDED)
+    assert CarControllerParams(palisade_2023).STEER_MAX == HYUNDAI_PALISADE_2023_STEER_MAX
+
   def test_ioniq_5_canfd_aux_messages_are_optional(self):
     toggles = get_test_toggles()
     fingerprint = gen_empty_fingerprint()
@@ -1196,7 +1634,7 @@ class TestHyundaiFingerprint:
 
           # Hyundai places the ECU part number in their FW versions, assert all parsable
           # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
-          if car_model != CAR.KIA_SPORTAGE_HEV_2026:
+          if car_model not in (CAR.KIA_SPORTAGE_2026, CAR.KIA_SPORTAGE_HEV_2026):
             assert all(b"-" in code for code, _ in codes), \
                             f"FW does not have part number: {fw}"
 

opendbc_repo/opendbc/car/hyundai/values.py

@@ -18,6 +18,12 @@ 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"
+GENESIS_G90_STEER_MAX = 461
+HYUNDAI_PALISADE_2023_STEER_MAX = 485
 
 
 class CarControllerParams:
@@ -95,12 +101,15 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 3
 
     elif CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
-      self.STEER_MAX = 404
+      self.STEER_MAX = HYUNDAI_PALISADE_2023_STEER_MAX
       self.STEER_DRIVER_ALLOWANCE = 50
       self.STEER_THRESHOLD = 150
       self.STEER_DELTA_UP = 2
       self.STEER_DELTA_DOWN = 3
 
+    elif CP.carFingerprint == CAR.GENESIS_G90:
+      self.STEER_MAX = GENESIS_G90_STEER_MAX
+
     # Default for most HKG
     else:
       self.STEER_MAX = 384
@@ -121,6 +130,7 @@ class HyundaiSafetyFlags(IntFlag):
   NON_SCC = 4096
   CAN_CANFD_BLENDED = 8192
   CANCEL_BTN_ENABLE = 16384
+  CCNC = 32768
 
 
 class HyundaiStarPilotSafetyFlags(IntFlag):
@@ -184,8 +194,6 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
-  HAS_LDA_BUTTON = 2 ** 24
-
   FCEV = 2 ** 25
 
   ALT_LIMITS_2 = 2 ** 26
@@ -203,6 +211,9 @@ class HyundaiFlags(IntFlag):
   NON_SCC_NO_FCA = 2 ** 30
   NON_SCC_RADAR_FCA = 2 ** 31
 
+  # Connected Car Navigation Cockpit CAN-FD platforms.
+  CCNC = 2 ** 24
+
 
 @dataclass
 class HyundaiCarDocs(CarDocs):
@@ -219,10 +230,13 @@ 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:
-      self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: 'hyundai_kia_mando_front_radar_generated'}
+    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:
       self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
@@ -234,16 +248,23 @@ class HyundaiPlatformConfig(PlatformConfig):
 @dataclass
 class HyundaiCanFDPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_canfd_generated"})
+  radar_dbc: str | None = None
 
   def init(self):
     self.flags |= HyundaiFlags.CANFD
+    if self.radar_dbc is not None:
+      self.dbc_dict = {Bus.pt: "hyundai_canfd_generated", Bus.radar: self.radar_dbc}
 
 
 @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:
@@ -305,7 +326,7 @@ 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]))],
@@ -342,6 +363,16 @@ class CAR(Platforms):
     CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
     flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
   )
+  HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_KONA_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Hybrid (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_KONA_EV = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
     CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
@@ -351,12 +382,17 @@ 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(
-    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
+    [
+      HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                    car_parts=CarParts.common([CarHarness.hyundai_r])),
+      HyundaiCarDocs("Hyundai Kona Electric (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    ],
     CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
   )
   HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
@@ -378,17 +414,27 @@ 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(
+    [
+      HyundaiCarDocs("Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Hyundai Santa Fe Hybrid (without HDA II, LFA2) 2025-26", "Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_l])),
+    ],
+    CarSpecs(mass=2035, wheelbase=2.81, steerRatio=13.72),
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CCNC,
   )
   HYUNDAI_SONATA = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video="https://www.youtube.com/watch?v=ix63r9kE3Fw",
@@ -396,6 +442,11 @@ class CAR(Platforms):
     CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
   )
+  HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=1556, wheelbase=2.84, steerRatio=12.81),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
     CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
@@ -441,6 +492,11 @@ class CAR(Platforms):
     HYUNDAI_SONATA.specs,
     flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
+  HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=1616, wheelbase=2.84, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
@@ -449,11 +505,37 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
+  )
+  HYUNDAI_IONIQ_5_PE = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_q]))
+    ],
+    HYUNDAI_IONIQ_5.specs,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
+  )
+  HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
+    CarSpecs(mass=2205, wheelbase=3.00, steerRatio=14.26, tireStiffnessFactor=1.3),
+    flags=HyundaiFlags.EV | HyundaiFlags.CCNC,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
   )
   HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
     HYUNDAI_IONIQ_5.specs,
     flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
+  )
+  HYUNDAI_IONIQ_9 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_m]))
+    ],
+    CarSpecs(mass=2700, wheelbase=3.13, steerRatio=16.02),
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
   )
   HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
     [
@@ -464,11 +546,31 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
   )
+  HYUNDAI_TUCSON_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_TUCSON_HEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_TUCSON_PHEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
     # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
     CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
   )
+  HYUNDAI_SANTA_CRUZ_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Cruz (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1920, wheelbase=3, steerRatio=14.2),
+    flags=HyundaiFlags.CCNC,
+  )
   HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
     [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
@@ -483,11 +585,24 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
   )
+  KIA_K4_2025 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia K4 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
+    ],
+    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=13.4),
+    flags=HyundaiFlags.CCNC,
+  )
   KIA_K5_2021 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
+  KIA_K5_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia K5 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_m]))],
+    CarSpecs(mass=3230 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
   KIA_K5_HEV_2020 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
     KIA_K5_2021.specs,
@@ -580,6 +695,13 @@ class CAR(Platforms):
     # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
     CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
   )
+  KIA_SPORTAGE_2026 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia Sportage (without HDA II) 2026", car_parts=CarParts.common([CarHarness.hyundai_n])),
+    ],
+    CarSpecs(mass=1735, wheelbase=2.756, steerRatio=13.7),
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CCNC,
+  )
   KIA_SPORTAGE_HEV_2026 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Kia Sportage Hybrid 2026", car_parts=CarParts.common([CarHarness.hyundai_n]))],
     CarSpecs(mass=1812, wheelbase=2.756, steerRatio=13.7),
@@ -599,6 +721,11 @@ class CAR(Platforms):
     CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
     flags=HyundaiFlags.RADAR_SCC,
   )
+  KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia Sorento (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),
+    flags=HyundaiFlags.CCNC,
+  )
   KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
     [
       HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
@@ -607,6 +734,13 @@ class CAR(Platforms):
     CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
     flags=HyundaiFlags.RADAR_SCC,
   )
+  KIA_SORENTO_HEV_4TH_GEN_LFA2 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia Sorento Hybrid 2026", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    ],
+    CarSpecs(mass=1970, wheelbase=2.814, steerRatio=13.27, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
+  )
   KIA_STINGER = HyundaiPlatformConfig(
     [HyundaiCarDocs("Kia Stinger 2018-20", video="https://www.youtube.com/watch?v=MJ94qoofYw0",
                     car_parts=CarParts.common([CarHarness.hyundai_c]))],
@@ -629,6 +763,23 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, 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),
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
+  )
+  KIA_EV9 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia EV9 2025-26", car_parts=CarParts.common([CarHarness.hyundai_r]))
+    ],
+    CarSpecs(mass=2664, wheelbase=3.1, steerRatio=16),
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
   )
   KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
     [
@@ -647,6 +798,7 @@ 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]))],
@@ -680,6 +832,14 @@ class CAR(Platforms):
     CarSpecs(mass=2260, wheelbase=2.87, steerRatio=17.1),
     flags=HyundaiFlags.EV,
   )
+  GENESIS_GV70_ELECTRIFIED_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Genesis GV70 Electrified 2026", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+    ],
+    GENESIS_GV70_ELECTRIFIED_1ST_GEN.specs,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
+  )
   GENESIS_G80 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
@@ -692,12 +852,24 @@ class CAR(Platforms):
   GENESIS_G90 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
     CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
+    flags=HyundaiFlags.MANDO_RADAR,
   )
   GENESIS_GV80 = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
     CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
     flags=HyundaiFlags.RADAR_SCC,
   )
+  GENESIS_GV80_2025 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Genesis GV80 Coupe (with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_q])),
+    ],
+    GENESIS_GV80.specs,
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
+  )
 
   # Hyundai non-SCC extensions
   HYUNDAI_BAYON_1ST_GEN_NON_SCC = HyundaiNonSccPlatformConfig(
@@ -719,6 +891,7 @@ 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]))],
@@ -764,6 +937,22 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
 })
 
 
+# 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,
+  CAR.HYUNDAI_SONATA_HYBRID,
+})
+
+# 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,
+  CAR.HYUNDAI_SONATA_HYBRID,
+})
+
+
 def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
   return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS
 
@@ -857,7 +1046,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
 # We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
 CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
                          # TODO: the hybrid variant is not out yet
-                         CAR.KIA_CARNIVAL_4TH_GEN}
+                         CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2}
 
 # List of ECUs expected to have platform codes, camera and radar should exist on all cars
 # TODO: use abs, it has the platform code and part number on many platforms
@@ -925,6 +1114,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     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],
+    Ecu.fwdRadar: [CAR.HYUNDAI_KONA_NON_SCC],
   },
   extra_ecus=[
     (Ecu.adas, 0x730, None),              # ADAS Driving ECU on platforms with LKA steering
@@ -951,9 +1141,20 @@ CAN_GEARS = {
 CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
 CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)  # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
 
-# Cars with CANFD_NO_RADAR_DISABLE that now work with SecurityAccess handshake
-CANFD_SECURITYACCESS_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_KONA_EV_2ND_GEN}
+# 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, 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.GENESIS_G90,
+}
 
 CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
 

opendbc_repo/opendbc/car/interfaces.py

@@ -20,7 +20,7 @@ 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.toyota.values import CAR as TOYOTA, NO_DSU_CAR, TSS2_CAR, UNSUPPORTED_DSU_CAR, ToyotaStarPilotFlags, ToyotaSafetyFlags
 from opendbc.car.values import PLATFORMS
@@ -199,6 +199,7 @@ 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]
 
@@ -228,14 +229,22 @@ 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 CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
+        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

opendbc_repo/opendbc/car/tests/routes.py

@@ -22,9 +22,21 @@ non_tested_cars = [
   MOCK.MOCK,
   GM.CADILLAC_ATS,
   GM.CADILLAC_ESCALADE_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_IONIQ_5_PE,
+  HYUNDAI.HYUNDAI_IONIQ_5_N,
+  HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
+  HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
+  HYUNDAI.KIA_EV6_2025,
+  HYUNDAI.KIA_EV9,
+  HYUNDAI.KIA_SPORTAGE_2026,
+  HYUNDAI.KIA_SORENTO_2024,
+  HYUNDAI.KIA_SORENTO_HEV_4TH_GEN_LFA2,
   VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
   SUBARU.SUBARU_FORESTER_HYBRID,
   VOLKSWAGEN.PORSCHE_MACAN_MK1,
@@ -143,6 +155,7 @@ routes = [
   CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL),  # LKA steering
   CarTestRoute("0bbe367c98fa1538/2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
   CarTestRoute("f0709d2bc6ca451f/2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
+  CarTestRoute("6e7904b03a4aafc2/00000010--31034184b6", HYUNDAI.HYUNDAI_SANTA_CRUZ_2025),
   CarTestRoute("4dbd55df87507948/2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
   CarTestRoute("bf43d9df2b660eb0/2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
   CarTestRoute("37398f32561a23ad/2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
@@ -156,11 +169,14 @@ routes = [
   CarTestRoute("6a42c1197b2a8179/2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
   CarTestRoute("c75a59efa0ecd502/2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
   CarTestRoute("5b7c365c50084530/2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
+  CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024, segment=34),
   CarTestRoute("b2a38c712dcf90bd/2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
   CarTestRoute("c344fd2492c7a9d2/2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
   CarTestRoute("fb3fd42f0baaa2f8/2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
   CarTestRoute("db68bbe12250812c/2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2023
   CarTestRoute("36e10531feea61a4/2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # hybrid
+  CarTestRoute("a01ca5d4f394c812/00000000--e98b7e4414", HYUNDAI.HYUNDAI_TUCSON_2025),
+  CarTestRoute("22f9090014364a87/00000002--4cc739c0b2", HYUNDAI.HYUNDAI_TUCSON_HEV_2025),
   CarTestRoute("5875672fc1d4bf57/2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   CarTestRoute("1d0d000db3370fd0/2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
   CarTestRoute("fc19648042eb6896/2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
@@ -168,6 +184,7 @@ routes = [
   CarTestRoute("9c917ba0d42ffe78/2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
   CarTestRoute("05a8f0197fdac372/2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5),  # LKA steering
   CarTestRoute("eb4eae1476647463/2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6),  # LKA steering
+  CarTestRoute("71e4e67d29034771/0000001b--b7b4774ec4", HYUNDAI.HYUNDAI_IONIQ_9),
   CarTestRoute("3f29334d6134fcd4/2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),
   CarTestRoute("fa8db5869167f821/2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV),
   CarTestRoute("e1107f9d04dfb1e2/2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV),  # openpilot longitudinal enabled
@@ -178,11 +195,13 @@ routes = [
   CarTestRoute("ab59fe909f626921/2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
   CarTestRoute("22d955b2cd499c22/2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
   CarTestRoute("0099bdb24d82951b/00000005--c38d940b04", HYUNDAI.HYUNDAI_KONA_2022),
+  CarTestRoute("32025f26789d8fab/00000022--a499e8ffa3", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
   CarTestRoute("efc48acf44b1e64d/2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
   CarTestRoute("f90d3cd06caeb6fa/2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
   CarTestRoute("ff973b941a69366f/2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
   CarTestRoute("1618132d68afc876/2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
   CarTestRoute("49f3c13141b6bc87/2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
+  CarTestRoute("97ca61196eb73e0d/00000052--4555329470", HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN),
   CarTestRoute("a74afe0cf708748f/0000000e--a2885a9a71", HYUNDAI.HYUNDAI_NEXO_1ST_GEN),
   CarTestRoute("a74afe0cf708748f/0000000c--b476a8fd00", HYUNDAI.HYUNDAI_NEXO_1ST_GEN),  # openpilot longitudinal enabled
   CarTestRoute("5dddcbca6eb66c62/2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
@@ -191,7 +210,9 @@ routes = [
   CarTestRoute("d545129f3ca90f28/2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # LKA steering
   CarTestRoute("68d6a96e703c00c9/2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # LFA steering
   CarTestRoute("9b25e8c1484a1b67/2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
+  CarTestRoute("baf39eeaba1217ca/00000002--b36e3fa031", HYUNDAI.KIA_K4_2025),
   CarTestRoute("007d5e4ad9f86d13/2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
+  CarTestRoute("c4a804b067623789/0000007c--163f831540", HYUNDAI.KIA_K5_2025),
   CarTestRoute("c58dfc9fc16590e0/2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
   CarTestRoute("78ad5150de133637/2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
   CarTestRoute("50c6c9b85fd1ff03/2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
@@ -210,6 +231,7 @@ routes = [
   CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
   CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
   CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
+  CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
   CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
   CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
 

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -64,13 +64,25 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
 "HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
+"HYUNDAI_SANTA_CRUZ_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_SANTA_FE_HEV_5TH_GEN" = [nan, 2.5, nan]
+"HYUNDAI_SONATA_2024" = [2.5, 2.5, 0.1]
+"HYUNDAI_SONATA_HEV_2024" = [2.5, 2.5, 0.1]
+"HYUNDAI_KONA_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_TUCSON_2025" = [2.5, 2.5, 0.1]
+"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_SPORTAGE_2026" = [nan, 2.5, nan]
 "KIA_SPORTAGE_HEV_2026" = [nan, 2.5, nan]
 "GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
 "GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1]
 "GMC_YUKON" = [1.2, 2.5, 0.26]
 "KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
 "KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_HEV_4TH_GEN_LFA2" = [nan, 2.5, nan]
 "KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12]
 "KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14]
 "GENESIS_GV80" = [2.5, 2.5, 0.1]
@@ -78,15 +90,24 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "GMC_ACADIA" = [1.6, 1.6, 0.2]
 "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
 "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_IONIQ_5_PE" = [nan, 2.5, nan]
+"HYUNDAI_IONIQ_5_N" = [2.5, 2.5, 0.1]
 "HYUNDAI_IONIQ_6" = [3.0, 3.0, 0.09]
+"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]
 "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]
+"KIA_EV6_2025" = [nan, 2.5, nan]
+"KIA_EV9" = [nan, 2.5, nan]
 "HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
 "LEXUS_GS_F" = [2.5, 2.5, 0.08]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
 "GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
+"GENESIS_GV70_ELECTRIFIED_2ND_GEN" = [nan, 2.5, nan]
 "GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
+"GENESIS_GV80_2025" = [nan, 2.5, nan]
 # Note that some Rivians achieve significantly less lateral acceleration than this
 "RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
 "HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]

opendbc_repo/opendbc/car/torque_data/substitute.toml

@@ -65,6 +65,7 @@ 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"
@@ -109,10 +110,12 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "SUBARU_ASCENT" = "SUBARU_FORESTER"
 
 "CADILLAC_CT6_CC" = "CHEVROLET_VOLT"
+"CADILLAC_XT5" = "GMC_ACADIA"
 "CADILLAC_XT5_CC" = "GMC_ACADIA"
 "BUICK_BABYENCLAVE" = "GMC_ACADIA"
 "CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
 "GMC_YUKON_CC" = "CHEVROLET_SILVERADO"
 "CHEVROLET_TRAILBLAZER_CC" = "CHEVROLET_TRAILBLAZER"
+"CHEVROLET_SILVERADO_CC" = "CHEVROLET_SILVERADO"
 
 "CHEVROLET_TRAX" = "CHEVROLET_VOLT"

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/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_mrr30_radar.py

@@ -0,0 +1,72 @@
+#!/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
+""")
+
+    for a in range(0x210, 0x210 + 16):
+      f.write(f"""
+BO_ {a} RADAR_TRACK_{a:x}: 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_mrr35_radar.py

@@ -0,0 +1,78 @@
+#!/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
+""")
+
+    for a in range(0x3A5, 0x3A5 + 32):
+      f.write(f"""
+BO_ {a} RADAR_TRACK_{a:x}: 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/hyundai_mrr30_radar_generated.dbc

@@ -0,0 +1,424 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+CM_ "hyundai_mrr30_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_ 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/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/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 }}}, \
@@ -226,6 +228,10 @@ 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();
@@ -233,9 +239,10 @@ static void hyundai_rx_hook(const CANPacket_t *msg) {
 
 static bool hyundai_tx_hook(const CANPacket_t *msg) {
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
+  const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_G90 = HYUNDAI_LIMITS(461, 3, 7);
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT_2 = HYUNDAI_LIMITS(170, 2, 3);
-  const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED = HYUNDAI_LIMITS(404, 2, 3);
+  const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED = HYUNDAI_LIMITS(485, 2, 3);
 
   bool tx = true;
 
@@ -284,7 +291,9 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
     int desired_torque = ((GET_BYTES(msg, 0, 4) >> 16) & 0x7ffU) - 1024U;
     bool steer_req = GET_BIT(msg, 27U);
 
-    const TorqueSteeringLimits limits = hyundai_can_canfd_blended ? HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED :
+    const bool hyundai_g90_limits = hyundai_has_lda_button && hyundai_aol_lkas_on_engage;  // G90 path sets both bits
+    const TorqueSteeringLimits limits = hyundai_g90_limits ? HYUNDAI_STEERING_LIMITS_G90 :
+                                        hyundai_can_canfd_blended ? HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED :
                                         hyundai_alt_limits_2 ? HYUNDAI_STEERING_LIMITS_ALT_2 :
                                         hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
 

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -24,6 +24,9 @@
 #define HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(e_can, longitudinal) \
   {0x1A0, e_can, 32, .check_relay = (longitudinal)},  /* SCC_CONTROL */ \
 
+#define HYUNDAI_CANFD_MRR35_RADAR_TRACK_START 0x3A5
+#define HYUNDAI_CANFD_MRR35_RADAR_TRACK_END 0x3C4
+
 #define HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(e_can) \
   {0x1BA, e_can, 24, .check_relay = false},  /* BLINDSPOTS_REAR_CORNERS */ \
   {0x1E5, e_can, 16, .check_relay = false},  /* BLINDSPOTS_FRONT_CORNER_1 */ \
@@ -56,6 +59,7 @@
 static bool hyundai_canfd_alt_buttons = false;
 static bool hyundai_canfd_lka_steering_alt = false;
 static bool hyundai_canfd_angle_steering = false;
+static bool hyundai_ccnc = false;
 
 static unsigned int hyundai_canfd_get_lka_addr(void) {
   return hyundai_canfd_lka_steering_alt ? 0x110U : 0x50U;
@@ -80,6 +84,15 @@ static void hyundai_canfd_rx_all_hook(const CANPacket_t *msg) {
   SAFETY_UNUSED(msg);
 }
 
+static bool hyundai_canfd_fwd_hook(int bus_num, int addr) {
+  const bool mrr35_radar_track = (addr >= HYUNDAI_CANFD_MRR35_RADAR_TRACK_START) && (addr <= HYUNDAI_CANFD_MRR35_RADAR_TRACK_END);
+
+  // On LKA-steering long-control cars using live MRR35 radar tracks, openpilot parses
+  // the tracks directly from bus 0. Forwarding them to bus 2 creates a returned TX copy
+  // of every object frame on the logged CAN stream without adding planner data.
+  return hyundai_longitudinal && hyundai_canfd_lka_steering && (bus_num == 0) && mrr35_radar_track;
+}
+
 static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
 
   const unsigned pt_bus = hyundai_canfd_lka_steering ? 1U : 0U;
@@ -289,6 +302,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
   const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128;
   const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
   const uint16_t HYUNDAI_PARAM_CANFD_ANGLE_STEERING = 1024;
+  const uint16_t HYUNDAI_PARAM_CCNC = 32768U;
 
   static const CanMsg HYUNDAI_CANFD_LKA_STEERING_TX_MSGS[] = {
     HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
@@ -304,6 +318,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     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},  // Ioniq 5/6: 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
@@ -335,12 +350,22 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
     {0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \
 
+#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
+    HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
+    HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
+    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
+    {0x161, 0, 32, .check_relay = true}, /* CCNC_0x161 */ \
+    {0x162, 0, 32, .check_relay = true}, /* CCNC_0x162 */ \
+    {0x7C4, 2, 8, .check_relay = true},  /* camera support frame */ \
+    {0xEA, 2, 24, .check_relay = true},  /* MDPS support frame */ \
+
   hyundai_common_init(param);
 
   gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
   hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
   hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);
   hyundai_canfd_angle_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ANGLE_STEERING);
+  hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);
 
   safety_config ret;
   if (hyundai_longitudinal) {
@@ -367,6 +392,10 @@ static safety_config hyundai_canfd_init(uint16_t param) {
         HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(0)
       };
 
+      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
+        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(true)
+      };
+
       if (hyundai_canfd_alt_buttons) {
         SET_RX_CHECKS(hyundai_canfd_alt_buttons_long_rx_checks, ret);
       } else {
@@ -374,7 +403,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
       }
 
       if (hyundai_camera_scc) {
-        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+        if (hyundai_ccnc) {
+          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
+        } else {
+          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+        }
       } else {
         SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
       }
@@ -435,7 +468,15 @@ static safety_config hyundai_canfd_init(uint16_t param) {
         HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
       };
 
-      SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
+        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
+      };
+
+      if (hyundai_ccnc) {
+        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
+      } else {
+        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+      }
 
       if (hyundai_canfd_alt_buttons) {
         SET_RX_CHECKS(hyundai_canfd_alt_buttons_rx_checks, ret);
@@ -456,4 +497,5 @@ const safety_hooks hyundai_canfd_hooks = {
   .get_counter = hyundai_canfd_get_counter,
   .get_checksum = hyundai_canfd_get_checksum,
   .compute_checksum = hyundai_common_canfd_compute_checksum,
+  .fwd = hyundai_canfd_fwd_hook,
 };

opendbc_repo/opendbc/safety/tests/test_hyundai.py

@@ -151,6 +151,17 @@ class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
     self.safety.init_tests()
 
 
+class TestHyundaiSafetyGenesisG90(TestHyundaiSafety):
+  MAX_TORQUE_LOOKUP = [0], [461]
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai,
+                                 HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON | HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE)
+    self.safety.init_tests()
+
+
 class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
   BUTTONS_TX_BUS = 2  # tx on 2, rx on 0
   SCC_BUS = 2  # rx on 2
@@ -213,7 +224,7 @@ class TestHyundaiCanCanfdBlendedSafety(TestHyundaiSafety):
   FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485, 0x364]}
   MAX_RATE_UP = 2
   MAX_RATE_DOWN = 3
-  MAX_TORQUE_LOOKUP = [0], [404]
+  MAX_TORQUE_LOOKUP = [0], [485]
 
   def setUp(self):
     self.packer = CANPackerSafety("hyundai_palisade_2023_generated")

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -26,6 +26,8 @@ ALL_GAS_EV_HYBRID_COMBOS = [
   {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
 ]
 
+MRR35_RADAR_TRACK_ADDRS = list(range(0x3A5, 0x3C5))
+
 
 def _set_value(msg: bytearray, sig, ival: int) -> None:
   i = sig.lsb // 8
@@ -422,6 +424,37 @@ class TestHyundaiCanfdLFASteeringAltButtons(TestHyundaiCanfdLFASteeringAltButton
   pass
 
 
+class TestHyundaiCanfdCCNCSupportFrames(common.SafetyTestBase):
+  TX_MSGS = [[0x161, 0], [0x162, 0], [0x7C4, 2], [0xEA, 2]]
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_canfd_generated")
+    self.safety = libsafety_py.libsafety
+
+  def _set_hooks(self, param):
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
+    self.safety.init_tests()
+
+  def test_ccnc_support_frames_require_ccnc_flag(self):
+    support_msgs = (
+      self.packer.make_can_msg_safety("CCNC_0x161", 0, {}),
+      self.packer.make_can_msg_safety("CCNC_0x162", 0, {}),
+      common.make_msg(2, 0x7C4, 8),
+      common.make_msg(2, 0xEA, 24),
+    )
+
+    for longitudinal in (False, True):
+      base_param = HyundaiSafetyFlags.CAMERA_SCC | (HyundaiSafetyFlags.LONG if longitudinal else 0)
+
+      self._set_hooks(base_param)
+      for msg in support_msgs:
+        self.assertFalse(self._tx(msg))
+
+      self._set_hooks(base_param | HyundaiSafetyFlags.CCNC)
+      for msg in support_msgs:
+        self.assertTrue(self._tx(msg))
+
+
 class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
 
   TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
@@ -485,6 +518,7 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
              [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]
 
   RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4), 1: (0x1a0,)}  # LKAS, CAM_0x2A4, SCC_CONTROL
+  FWD_BLACKLISTED_ADDRS = {0: MRR35_RADAR_TRACK_ADDRS, 2: [0x50, 0x2a4]}
 
   DISABLED_ECU_UDS_MSG = (0x730, 1)
   DISABLED_ECU_ACTUATION_MSG = (0x1a0, 1)

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-0cddc630-DEBUG";
+const uint8_t gitversion[19] = "DEV-2486728e-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-0cddc630-DEBUG
+DEV-2486728e-DEBUG

scripts/launch_onroad_desktop.sh

@@ -27,18 +27,20 @@ env_var_truthy() {
 usage() {
   cat <<'EOF'
 Usage:
-  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [--prefix name] <route-or-replay-args...>
+  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [-nav] [--prefix name] <route-or-replay-args...>
 
 Examples:
-  ./onroad --c3 f08912a233c1584f/2022-08-11--18-02-41/1
-  ./onroad --c4 f08912a233c1584f/2022-08-11--18-02-41/1 --start 30
-  ./onroad --all f08912a233c1584f/2022-08-11--18-02-41/1
+  ./onroad --c3 <route>
+  ./onroad --c4 <route> --start 30
+  ./onroad --c4 -nav <route>
+  ./onroad --all <route>
   ./onroad --replay-only --demo --no-vipc --no-loop
 
 Notes:
   - This is host/dev only. It uses the isolated host worktree and does not touch the device path.
   - A private comma connect route still requires tools/lib/auth.py before replay can download it.
   - Use multiple UI flags together if you want more than one desktop UI at once.
+  - -nav injects a fake navigation demo stream and blocks replay from publishing navInstruction/navRoute.
 EOF
 }
 
@@ -53,7 +55,9 @@ REPLAY_ARGS=()
 UI_TARGETS=()
 LEGACY_UI_SELECTION=""
 REPLAY_ONLY=0
+NAV_DEMO=0
 REPLAY_PID=""
+NAV_PID=""
 UI_PIDS=()
 
 parse_args() {
@@ -83,6 +87,10 @@ parse_args() {
         REPLAY_ONLY=1
         shift
         ;;
+      -nav|--nav)
+        NAV_DEMO=1
+        shift
+        ;;
       --ui)
         if [[ $# -lt 2 ]]; then
           echo "Missing value for --ui" >&2
@@ -194,6 +202,9 @@ cleanup() {
   if [[ -n "${REPLAY_PID}" ]]; then
     kill "${REPLAY_PID}" >/dev/null 2>&1 || true
   fi
+  if [[ -n "${NAV_PID}" ]]; then
+    kill "${NAV_PID}" >/dev/null 2>&1 || true
+  fi
 
   for pid in "${UI_PIDS[@]-}"; do
     if [[ -n "${pid}" ]]; then
@@ -203,6 +214,9 @@ cleanup() {
   if [[ -n "${REPLAY_PID}" ]]; then
     wait "${REPLAY_PID}" >/dev/null 2>&1 || true
   fi
+  if [[ -n "${NAV_PID}" ]]; then
+    wait "${NAV_PID}" >/dev/null 2>&1 || true
+  fi
 
   if [[ -n "${OPENPILOT_PREFIX:-}" && "${OPENPILOT_PREFIX}" == desktop-onroad-* ]]; then
     echo "Cleaning up temporary prefix environment (${OPENPILOT_PREFIX})..."
@@ -214,6 +228,68 @@ cleanup() {
   exit "${exit_code}"
 }
 
+append_blocked_service_names() {
+  local existing="$1"
+  local required="$2"
+  local combined="${existing}"
+
+  if [[ -n "${combined}" ]]; then
+    combined+=",${required}"
+  else
+    combined="${required}"
+  fi
+
+  local deduped=()
+  local seen=","
+  local part=""
+  local parts=()
+  IFS=',' read -r -a parts <<< "${combined}"
+  for part in "${parts[@]-}"; do
+    part="${part// /}"
+    if [[ -z "${part}" ]]; then
+      continue
+    fi
+    if [[ "${seen}" != *",${part},"* ]]; then
+      deduped+=("${part}")
+      seen+="${part},"
+    fi
+  done
+
+  local joined=""
+  for part in "${deduped[@]-}"; do
+    if [[ -n "${joined}" ]]; then
+      joined+=","
+    fi
+    joined+="${part}"
+  done
+
+  printf '%s' "${joined}"
+}
+
+ensure_nav_demo_replay_blocklist() {
+  local nav_services="navInstruction,navRoute"
+  local idx=0
+
+  for ((idx=0; idx<${#REPLAY_ARGS[@]}; idx++)); do
+    case "${REPLAY_ARGS[$idx]}" in
+      -b|--block)
+        if (( idx + 1 >= ${#REPLAY_ARGS[@]} )); then
+          echo "Missing value for ${REPLAY_ARGS[$idx]}" >&2
+          exit 1
+        fi
+        REPLAY_ARGS[$((idx + 1))]="$(append_blocked_service_names "${REPLAY_ARGS[$((idx + 1))]}" "${nav_services}")"
+        return
+        ;;
+      --block=*)
+        REPLAY_ARGS[$idx]="--block=$(append_blocked_service_names "${REPLAY_ARGS[$idx]#*=}" "${nav_services}")"
+        return
+        ;;
+    esac
+  done
+
+  REPLAY_ARGS=(-b "${nav_services}" "${REPLAY_ARGS[@]}")
+}
+
 prepare_env() {
   source .venv/bin/activate
 
@@ -238,6 +314,7 @@ prepare_env() {
   export SP_C4_FAKE_WIFI=0
   export SP_RAYBIG_FAKE_WIFI=0
   export SP_ALLOW_DESKTOP_FAKE_WIFI=0
+  export SP_ONROAD_NAV_DEMO="${NAV_DEMO}"
 
   if [[ "$(uname -s)" == "Darwin" ]] || env_var_truthy "${ZMQ:-0}"; then
     export OPENPILOT_ZMQ_NAMESPACE="${PREFIX_ARG:-${OPENPILOT_ZMQ_NAMESPACE:-desktop-onroad-$$}}"
@@ -250,6 +327,8 @@ prepare_env() {
 
 seed_params() {
   "${ROOT_DIR}/.venv/bin/python3" - <<'PY'
+import os
+
 from openpilot.common.params import Params
 from openpilot.system.version import terms_version, training_version
 
@@ -260,6 +339,8 @@ params.put_bool("OpenpilotEnabledToggle", True)
 params.put_bool("IsDriverViewEnabled", False)
 params.put_bool("ForceOnroad", False)
 params.put_bool("ForceOffroad", False)
+if os.getenv("SP_ONROAD_NAV_DEMO", "").lower() in {"1", "true", "yes", "on"}:
+  params.put_bool("NavigationUI", True)
 PY
 }
 
@@ -302,6 +383,18 @@ launch_replay() {
   fi
 }
 
+launch_nav_demo() {
+  echo "Starting fake nav demo publisher..."
+  "${ROOT_DIR}/.venv/bin/python3" "${ROOT_DIR}/tools/replay/fake_nav_demo.py" &
+  NAV_PID=$!
+
+  sleep 0.5
+  if ! kill -0 "${NAV_PID}" >/dev/null 2>&1; then
+    wait "${NAV_PID}"
+    return 1
+  fi
+}
+
 launch_c3_ui() {
   local os_ext="linux"
   if [[ "$(uname -s)" == "Darwin" ]]; then
@@ -339,6 +432,10 @@ else
   dedupe_ui_targets
 fi
 
+if [[ "${NAV_DEMO}" == "1" ]]; then
+  ensure_nav_demo_replay_blocklist
+fi
+
 if [[ ${#REPLAY_ARGS[@]} -eq 0 ]]; then
   usage >&2
   exit 1
@@ -378,6 +475,10 @@ seed_starpilot_theme
 echo "Starting replay: ${REPLAY_ARGS[*]}"
 launch_replay
 
+if [[ "${NAV_DEMO}" == "1" ]]; then
+  launch_nav_demo
+fi
+
 if [[ ${#UI_TARGETS[@]} -eq 0 ]]; then
   echo "Replay is running without UI windows. Press Ctrl-C to stop."
   wait "${REPLAY_PID}"

scripts/model_compiler.py

@@ -3,6 +3,7 @@ import argparse
 import codecs
 import os
 import pickle
+import json
 import re
 import shutil
 import subprocess
@@ -10,11 +11,18 @@ import sys
 
 from pathlib import Path
 
-
 REPO_ROOT = Path(__file__).resolve().parents[1]
+if str(REPO_ROOT) not in sys.path:
+  sys.path.insert(0, str(REPO_ROOT))
+
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.starpilot.common.model_versions import uses_combined_driving_artifacts
+
 DEFAULT_INPUT_ROOT = Path("/data/openpilot/uncompiledmodels")
 DEFAULT_OUTPUT_ROOT = Path("/data/openpilot/compiledmodels")
 COMPILE_SCRIPT = REPO_ROOT / "tinygrad_repo/examples/openpilot/compile3.py"
+COMBINED_COMPILE_SCRIPT = REPO_ROOT / "selfdrive/modeld/compile_modeld.py"
+MODEL_VERSIONS_CACHE = Path("/data/models/.model_versions.json")
 DM_MODEL_KEY = "dm"
 DM_MODEL_NAME = "dmonitoring_model"
 DM_TARGET_ALIASES = {DM_MODEL_KEY, "dmonitoring", DM_MODEL_NAME}
@@ -26,7 +34,33 @@ COMPONENT_ALIASES = {
   "driving_policy": ("driving_policy", "policy"),
   "driving_vision": ("driving_vision", "vision"),
 }
-REQUIRED_COMPONENTS = {"driving_policy", "driving_vision"}
+MEDMODEL_INPUT_SIZE = (512, 256)
+DEFAULT_CAMERA_RESOLUTIONS = (
+  (1928, 1208),
+  (1344, 760),
+)
+
+
+def build_compile_env(*, combined: bool = False) -> dict[str, str]:
+  env = os.environ.copy()
+  existing_pythonpath = env.get("PYTHONPATH", "")
+  env["PYTHONPATH"] = f"{REPO_ROOT}:{existing_pythonpath}" if existing_pythonpath else str(REPO_ROOT)
+
+  numeric_defaults = {
+    "DEBUG": "0",
+    "FLOAT16": "1",
+    "IMAGE": "2",
+    "JIT_BATCH_SIZE": "0",
+    "NOLOCALS": "1",
+  }
+  for key, default in numeric_defaults.items():
+    value = env.get(key)
+    try:
+      int(str(value), 0)
+    except (TypeError, ValueError):
+      env[key] = default
+
+  return env
 
 
 def parse_args() -> argparse.Namespace:
@@ -37,6 +71,7 @@ def parse_args() -> argparse.Namespace:
   parser.add_argument("--dm", action="store_true", help="Compile the driver monitoring model into dmonitoring_model_tinygrad.pkl.")
   parser.add_argument("--input-dir", type=Path, default=DEFAULT_INPUT_ROOT, help="Directory containing staged ONNX files. Flat root files like driving_policy.onnx are preferred.")
   parser.add_argument("--output-dir", type=Path, default=DEFAULT_OUTPUT_ROOT, help="Directory for compiled tinygrad pkls and metadata.")
+  parser.add_argument("--version", help="Model version. v16+ uses the combined driving_tinygrad artifact path. If omitted, split-policy staged models default to the combined build.")
   parser.add_argument("--list", action="store_true", help="List detected staged models and exit.")
   parser.add_argument("--force", action="store_true", help="Legacy no-op. Compiled outputs are always cleared before a build.")
 
@@ -66,14 +101,6 @@ def detect_component(path: Path) -> str | None:
   return None
 
 
-def normalize_model_files(model_files: dict[str, Path]) -> dict[str, Path]:
-  normalized = dict(model_files)
-  on_policy_path = normalized.pop("driving_on_policy", None)
-  if on_policy_path is not None and "driving_policy" not in normalized and "driving_off_policy" in normalized:
-    normalized["driving_policy"] = on_policy_path
-  return normalized
-
-
 def find_staged_dm(input_root: Path) -> Path | None:
   if not input_root.is_dir():
     return None
@@ -107,7 +134,6 @@ def find_staged_models(input_root: Path) -> dict[str, dict[str, Path]]:
       component = detect_component(onnx_file)
       if component:
         model_files[component] = onnx_file
-    model_files = normalize_model_files(model_files)
     if model_files:
       found[child.name] = model_files
 
@@ -137,7 +163,7 @@ def find_staged_models(input_root: Path) -> dict[str, dict[str, Path]]:
       flat_root_files[component] = onnx_file
 
   if flat_root_files:
-    found["_root"] = normalize_model_files(flat_root_files)
+    found["_root"] = flat_root_files
 
   return found
 
@@ -156,7 +182,7 @@ def resolve_model_files(input_root: Path, model_key: str) -> dict[str, Path]:
     component = detect_component(onnx_file)
     if component:
       prefixed_files[component] = onnx_file
-  return normalize_model_files(prefixed_files)
+  return prefixed_files
 
 
 def get_metadata_value_by_name(model, name: str):
@@ -190,17 +216,94 @@ def write_metadata(onnx_path: Path, output_path: Path) -> None:
 
 
 def compile_component(onnx_path: Path, output_path: Path) -> None:
-  env = os.environ.copy()
-  existing_pythonpath = env.get("PYTHONPATH", "")
-  env["PYTHONPATH"] = f"{REPO_ROOT}:{existing_pythonpath}" if existing_pythonpath else str(REPO_ROOT)
   subprocess.run(
     [sys.executable, str(COMPILE_SCRIPT), str(onnx_path), str(output_path)],
     cwd=REPO_ROOT,
-    env=env,
+    env=build_compile_env(combined=False),
     check=True,
   )
 
 
+def compile_combined_model(component_paths: dict[str, Path], output_path: Path) -> None:
+  vision_path = component_paths["driving_vision"]
+  off_policy_path = component_paths["driving_off_policy"]
+  on_policy_path = component_paths.get("driving_on_policy") or component_paths.get("driving_policy")
+  if on_policy_path is None:
+    raise ValueError("Combined compile requires driving_on_policy.onnx (or driving_policy.onnx) alongside driving_off_policy.onnx")
+
+  frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+  camera_resolutions = [f"{width}x{height}" for width, height in DEFAULT_CAMERA_RESOLUTIONS]
+  subprocess.run(
+    [
+      sys.executable,
+      str(COMBINED_COMPILE_SCRIPT),
+      "--model-size",
+      f"{MEDMODEL_INPUT_SIZE[0]}x{MEDMODEL_INPUT_SIZE[1]}",
+      "--camera-resolutions",
+      *camera_resolutions,
+      "--vision-onnx",
+      str(vision_path),
+      "--off-policy-onnx",
+      str(off_policy_path),
+      "--on-policy-onnx",
+      str(on_policy_path),
+      "--output",
+      str(output_path),
+      "--frame-skip",
+      str(frame_skip),
+    ],
+    cwd=REPO_ROOT,
+    env=build_compile_env(combined=True),
+    check=True,
+  )
+
+
+def infer_model_version(model_key: str, explicit_version: str | None) -> str:
+  if explicit_version:
+    return explicit_version.strip()
+
+  if MODEL_VERSIONS_CACHE.is_file():
+    try:
+      version_map = json.loads(MODEL_VERSIONS_CACHE.read_text())
+      version = version_map.get(model_key)
+      if isinstance(version, str) and version.strip():
+        return version.strip()
+    except Exception:
+      pass
+
+  return ""
+
+
+def should_use_combined_artifacts(model_version: str, model_files: dict[str, Path]) -> bool:
+  if uses_combined_driving_artifacts(model_version):
+    return True
+  if model_version.strip():
+    return False
+
+  has_vision = "driving_vision" in model_files
+  has_off_policy = "driving_off_policy" in model_files
+  has_on_policy = "driving_on_policy" in model_files or "driving_policy" in model_files
+  return has_vision and has_off_policy and has_on_policy
+
+
+def resolve_split_component_inputs(model_files: dict[str, Path]) -> dict[str, Path]:
+  resolved: dict[str, Path] = {}
+
+  vision_path = model_files.get("driving_vision")
+  if vision_path is not None:
+    resolved["driving_vision"] = vision_path
+
+  policy_path = model_files.get("driving_policy") or model_files.get("driving_on_policy")
+  if policy_path is not None:
+    resolved["driving_policy"] = policy_path
+
+  off_policy_path = model_files.get("driving_off_policy")
+  if off_policy_path is not None:
+    resolved["driving_off_policy"] = off_policy_path
+
+  return resolved
+
+
 def clear_existing_outputs(output_dir: Path) -> list[Path]:
   removed = []
   for existing in sorted(output_dir.iterdir()):
@@ -277,18 +380,38 @@ def main() -> int:
       f"or optionally {args.input_dir / model_key}/*.onnx"
     )
 
-  missing = sorted(REQUIRED_COMPONENTS - set(files))
-  if missing:
-    raise SystemExit(f"Missing required ONNX files for {model_key}: {', '.join(missing)}")
+  model_version = infer_model_version(model_key, args.version)
+  use_combined_artifacts = should_use_combined_artifacts(model_version, files)
 
   args.output_dir.mkdir(parents=True, exist_ok=True)
-  print(f"Compiling {model_key} from {args.input_dir} -> {args.output_dir}")
+  mode_label = "combined" if use_combined_artifacts else "split"
+  version_label = model_version or ("auto-combined" if use_combined_artifacts else "legacy-default")
+  print(f"Compiling {model_key} ({version_label}, {mode_label}) from {args.input_dir} -> {args.output_dir}")
 
   removed = clear_existing_outputs(args.output_dir)
   if removed:
     print(f"  cleared {len(removed)} existing output entries")
 
-  for component, onnx_path in sorted(files.items()):
+  if use_combined_artifacts:
+    required_components = {"driving_vision", "driving_off_policy"}
+    if not (files.get("driving_on_policy") or files.get("driving_policy")):
+      required_components.add("driving_on_policy")
+    missing = sorted(component for component in required_components if component not in files)
+    if missing:
+      raise SystemExit(f"Missing required ONNX files for combined compile of {model_key}: {', '.join(missing)}")
+
+    output_pkl = args.output_dir / f"{model_key}_driving_tinygrad.pkl"
+    compile_combined_model(files, output_pkl)
+    print(f"  saved {output_pkl.name}")
+    print("Done.")
+    return 0
+
+  split_components = resolve_split_component_inputs(files)
+  missing = sorted(component for component in ("driving_policy", "driving_vision") if component not in split_components)
+  if missing:
+    raise SystemExit(f"Missing required ONNX files for {model_key}: {', '.join(missing)}")
+
+  for component, onnx_path in sorted(split_components.items()):
     output_pkl = args.output_dir / f"{model_key}_{component}_tinygrad.pkl"
     output_metadata = args.output_dir / f"{model_key}_{component}_metadata.pkl"
 

selfdrive/car/car_specific.py

@@ -47,6 +47,7 @@ GM_STANDSTILL_BRAKE_CAMERA_CARS = {
   GM_CAR.CHEVROLET_VOLT_CC,
   GM_CAR.CHEVROLET_MALIBU,
   GM_CAR.CHEVROLET_MALIBU_ASCM,
+  GM_CAR.BUICK_LACROSSE_ASCM,
   GM_CAR.CHEVROLET_MALIBU_SDGM,
   GM_CAR.CHEVROLET_MALIBU_CC,
   GM_CAR.CHEVROLET_MALIBU_HYBRID_CC,

selfdrive/car/card.py

@@ -22,7 +22,7 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import VCruiseHelper, IMPERIAL_INCREMENT, V_CRUISE_MAX, V_CRUISE_MIN
-from openpilot.selfdrive.car.redneck_cruise import RedneckCruise
+from openpilot.selfdrive.car.redneck_cruise import RedneckCruise, SEND_BUTTON_DECREASE, SEND_BUTTON_INCREASE, select_redneck_target_speed
 from openpilot.selfdrive.car.car_specific import MockCarState
 
 from openpilot.starpilot.common.starpilot_variables import get_starpilot_toggles, update_starpilot_toggles
@@ -30,6 +30,8 @@ from openpilot.starpilot.controls.starpilot_card import StarPilotCard
 
 REPLAY = "REPLAY" in os.environ
 OPENPILOT_LEAD_MIN_DISTANCE = 0.1
+REDNECK_DECREASE_LOOKAHEAD_POINTS = 10
+REDNECK_AUTO_BUTTON_FILTER_FRAMES = int(0.3 / DT_CTRL)
 
 EventName = log.OnroadEvent.EventName
 
@@ -73,6 +75,14 @@ class Car:
 
   FPCP: custom.StarPilotCarParams
 
+  class _ButtonEventFilteredCarState:
+    def __init__(self, car_state: car.CarState, button_events):
+      self._car_state = car_state
+      self.buttonEvents = button_events
+
+    def __getattr__(self, name: str):
+      return getattr(self._car_state, name)
+
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'radarState', 'longitudinalPlan'])
@@ -165,8 +175,12 @@ class Car:
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
     self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
-    self.redneck_cruise = RedneckCruise(self.CP, self.FPCP) if self.CP.brand == "hyundai" else None
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.FPCP)
+    self.redneck_cruise = RedneckCruise(self.CP, self.FPCP) if self.CP.brand == "hyundai" and self.FPCP.redneckCruiseAvailable and not self.FPCP.pcmCruiseSpeed else None
+    self.redneck_button_event_filter_frames = {
+      int(ButtonType.accelCruise): 0,
+      int(ButtonType.decelCruise): 0,
+    }
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.safe_mode = self.params.get_bool("SafeMode")
@@ -215,6 +229,9 @@ class Car:
 
     self.sm.update(0)
 
+    self._advance_redneck_button_feedback_filter()
+    filtered_CS = self._get_button_event_filtered_state(CS)
+
     can_rcv_valid = len(can_strs) > 0
 
     # Check for CAN timeout
@@ -230,7 +247,7 @@ class Car:
     )
     if not preap_software_cruise:
       self.v_cruise_helper.update_v_cruise(
-        CS,
+        filtered_CS,
         self.sm['carControl'].enabled,
         self.is_metric,
         self.sm['starpilotPlan'].speedLimitChanged,
@@ -266,9 +283,9 @@ class Car:
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
-    if any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents):
+    if any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in filtered_CS.buttonEvents):
       self.resume_prev_button = True
-    elif any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in CS.buttonEvents):
+    elif any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in filtered_CS.buttonEvents):
       self.resume_prev_button = False
 
     FPCS = self.starpilot_card.update(CS, FPCS, self.sm, self.starpilot_toggles)
@@ -345,6 +362,7 @@ class Car:
       self._update_redneck_cruise(CS, CC)
       self._update_openpilot_lead_state(CC)
       self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos, self.starpilot_toggles)
+      self._record_redneck_button_feedback_filter()
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
 
       self.CC_prev = CC
@@ -373,19 +391,70 @@ class Car:
     if self.redneck_cruise is None:
       return
 
-    send_button, v_target = self.redneck_cruise.run(CS, CC, self._get_redneck_target_speed(), self.is_metric)
+    filtered_CS = self._get_button_event_filtered_state(CS)
+    send_button, v_target = self.redneck_cruise.run(filtered_CS, CC, self._get_redneck_target_speed(CS), self.is_metric)
     self.CI.CS.redneck_send_button = send_button
     self.CI.CS.redneck_v_target = v_target
 
-  def _get_redneck_target_speed(self) -> float:
-    if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
-      speeds = self.sm['longitudinalPlan'].speeds
-      if len(speeds) > 0:
-        target_speed = float(speeds[0])
-        if math.isfinite(target_speed):
-          return target_speed
+  def _get_redneck_target_speed(self, CS: car.CarState) -> float:
+    starpilot_target_speed = 0.0
+    if self.sm.seen['starpilotPlan'] and self.sm.valid['starpilotPlan']:
+      starpilot_target_speed = float(self.sm['starpilotPlan'].vCruise)
 
-    return float(self.sm['starpilotPlan'].vCruise)
+    plan_speeds = []
+    if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
+      plan_speeds = [float(speed) for speed in self.sm['longitudinalPlan'].speeds if math.isfinite(float(speed))]
+
+    return select_redneck_target_speed(
+      float(getattr(CS, "vCruise", 0.0)),
+      float(CS.cruiseState.speedCluster),
+      starpilot_target_speed,
+      plan_speeds,
+      REDNECK_DECREASE_LOOKAHEAD_POINTS,
+    )
+
+  def _advance_redneck_button_feedback_filter(self) -> None:
+    if self.redneck_cruise is None:
+      return
+
+    for button_type in self.redneck_button_event_filter_frames:
+      self.redneck_button_event_filter_frames[button_type] = max(0, self.redneck_button_event_filter_frames[button_type] - 1)
+
+  def _get_filtered_redneck_button_events(self, CS: car.CarState):
+    if self.redneck_cruise is None or len(CS.buttonEvents) == 0:
+      return CS.buttonEvents
+
+    if not any(self.redneck_button_event_filter_frames.values()):
+      return CS.buttonEvents
+
+    filtered_button_events = []
+    filtered_any = False
+    for event in CS.buttonEvents:
+      button_type = event.type.raw if hasattr(event.type, "raw") else int(event.type)
+      if self.redneck_button_event_filter_frames.get(button_type, 0) > 0:
+        filtered_any = True
+        continue
+      filtered_button_events.append(event)
+
+    return filtered_button_events if filtered_any else CS.buttonEvents
+
+  def _get_button_event_filtered_state(self, CS: car.CarState):
+    filtered_button_events = self._get_filtered_redneck_button_events(CS)
+    if filtered_button_events is CS.buttonEvents:
+      return CS
+    return self._ButtonEventFilteredCarState(CS, filtered_button_events)
+
+  def _record_redneck_button_feedback_filter(self) -> None:
+    if self.redneck_cruise is None:
+      return
+
+    sent_button = int(getattr(self.CI.CS, "redneck_last_sent_button", 0) or 0)
+    if sent_button == SEND_BUTTON_INCREASE:
+      self.redneck_button_event_filter_frames[int(ButtonType.accelCruise)] = REDNECK_AUTO_BUTTON_FILTER_FRAMES
+    elif sent_button == SEND_BUTTON_DECREASE:
+      self.redneck_button_event_filter_frames[int(ButtonType.decelCruise)] = REDNECK_AUTO_BUTTON_FILTER_FRAMES
+
+    self.CI.CS.redneck_last_sent_button = 0
 
   def step(self):
     CS, RD, FPCS = self.state_update()

selfdrive/car/cruise.py

@@ -32,7 +32,7 @@ CRUISE_INTERVAL_SIGN = {
 
 
 class VCruiseHelper:
-  def __init__(self, CP):
+  def __init__(self, CP, FPCP=None):
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -41,6 +41,9 @@ class VCruiseHelper:
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
     self.gm_cc_only = self.CP.carFingerprint in CC_ONLY_CAR and self.CP.flags & GMFlags.CC_LONG.value
+    self.redneck_non_pcm = bool(FPCP is not None and
+                                getattr(FPCP, "redneckCruiseAvailable", False) and
+                                not getattr(FPCP, "pcmCruiseSpeed", True))
 
   def _get_short_press_delta(self, is_metric, starpilot_toggles: SimpleNamespace) -> float:
     base_delta = 1. if is_metric else IMPERIAL_INCREMENT
@@ -50,6 +53,15 @@ class VCruiseHelper:
   def _get_cruise_delta_interval(interval: float | None) -> float:
     return interval if isinstance(interval, (int, float)) and interval > 0 else 1.0
 
+  def _get_cruise_delta_intervals(self, starpilot_toggles: SimpleNamespace) -> tuple[float, float]:
+    short_interval = self._get_cruise_delta_interval(getattr(starpilot_toggles, "cruise_increase", None))
+    long_interval = self._get_cruise_delta_interval(getattr(starpilot_toggles, "cruise_increase_long", None))
+
+    if getattr(starpilot_toggles, "reverse_cruise_increase", False):
+      return long_interval, short_interval
+
+    return short_interval, long_interval
+
   @property
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
@@ -58,7 +70,7 @@ class VCruiseHelper:
     self.v_cruise_kph_last = self.v_cruise_kph
 
     if CS.cruiseState.available:
-      if self.gm_cc_only or not self.CP.pcmCruise:
+      if self.gm_cc_only or self.redneck_non_pcm or not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, starpilot_toggles)
         self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -116,8 +128,8 @@ class VCruiseHelper:
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    delta_interval = starpilot_toggles.cruise_increase_long if long_press else starpilot_toggles.cruise_increase
-    v_cruise_delta_interval = self._get_cruise_delta_interval(delta_interval)
+    short_interval, long_interval = self._get_cruise_delta_intervals(starpilot_toggles)
+    v_cruise_delta_interval = long_interval if long_press else short_interval
     v_cruise_delta = v_cruise_delta * v_cruise_delta_interval
     if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
@@ -145,7 +157,7 @@ class VCruiseHelper:
   def initialize_v_cruise(self, CS, experimental_mode: bool, resume_prev_button: bool,
                           starpilot_toggles: SimpleNamespace, desired_speed_limit: float = 0.0) -> None:
     # initializing is handled by the PCM
-    if self.CP.pcmCruise and not self.gm_cc_only:
+    if self.CP.pcmCruise and not (self.gm_cc_only or self.redneck_non_pcm):
       return
 
     engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
@@ -158,6 +170,8 @@ class VCruiseHelper:
       # the custom cruise-button interval.
       initialized_speed_limit_kph = round(desired_speed_limit * CV.MS_TO_KPH, 1)
       self.v_cruise_kph = float(np.clip(initialized_speed_limit_kph, V_CRUISE_MIN, V_CRUISE_MAX))
+    elif self.redneck_non_pcm and CS.cruiseState.speedCluster > 0:
+      self.v_cruise_kph = float(np.clip(CS.cruiseState.speedCluster * CV.MS_TO_KPH, V_CRUISE_MIN, V_CRUISE_MAX))
     else:
       self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, engage_floor_kph, V_CRUISE_MAX)))
 

selfdrive/car/redneck_cruise.py

@@ -10,7 +10,8 @@ SEND_BUTTON_INCREASE = 1
 SEND_BUTTON_DECREASE = 2
 
 HYST_GAP = 0.0
-INACTIVE_TIMER = 0.4
+INCREASE_INACTIVE_TIMER = 0.4
+DECREASE_INACTIVE_TIMER = 0.1
 
 CRUISE_BUTTON_TIMERS = {
   int(ButtonType.decelCruise): 0,
@@ -22,6 +23,23 @@ CRUISE_BUTTON_TIMERS = {
 }
 
 
+def select_redneck_target_speed(v_cruise_kph: float, speed_cluster_ms: float,
+                                starpilot_target_speed_ms: float, plan_speeds_ms: list[float],
+                                lookahead_points: int) -> float:
+  target_speed_ms = float(speed_cluster_ms)
+  if v_cruise_kph > 0:
+    target_speed_ms = float(v_cruise_kph) * CV.KPH_TO_MS
+  elif starpilot_target_speed_ms > 0:
+    target_speed_ms = float(starpilot_target_speed_ms)
+
+  if len(plan_speeds_ms) > 0:
+    decrease_target_speed_ms = min(plan_speeds_ms[:lookahead_points])
+    if decrease_target_speed_ms < min(target_speed_ms, float(speed_cluster_ms)):
+      return decrease_target_speed_ms
+
+  return target_speed_ms
+
+
 def get_minimum_set_speed(is_metric: bool) -> int:
   return 30 if is_metric else 20
 
@@ -80,32 +98,53 @@ class RedneckCruise:
     button_pressed = any(timer > 0 for timer in self.cruise_button_timers.values())
     self.is_ready = CC.enabled and not CC.cruiseControl.override and not CC.cruiseControl.cancel and not CC.cruiseControl.resume and not button_pressed
 
-  def _update_state_machine(self) -> int:
-    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+  def _desired_state(self) -> str:
+    if self.v_target > self.v_cruise_cluster:
+      return "increasing"
+    if self.v_target < self.v_cruise_cluster and self.v_cruise_cluster > self.v_cruise_min:
+      return "decreasing"
+    return "holding"
 
-    if self.state != "inactive":
-      if not self.is_ready:
-        self.state = "inactive"
-      elif self.state == "preActive":
+  @staticmethod
+  def _get_pre_active_frames(state: str) -> int:
+    timer = DECREASE_INACTIVE_TIMER if state == "decreasing" else INCREASE_INACTIVE_TIMER
+    return int(timer / DT_CTRL)
+
+  def _arm_pre_active(self, desired_state: str) -> None:
+    if desired_state == "holding":
+      self.state = "holding"
+      self.pre_active_timer = 0
+      return
+
+    self.state = "preActive"
+    self.pre_active_timer = self._get_pre_active_frames(desired_state)
+
+  def _update_state_machine(self) -> int:
+    desired_state = self._desired_state()
+
+    if not self.is_ready:
+      self.state = "inactive"
+      self.pre_active_timer = 0
+    elif self.state == "inactive":
+      if not self.is_ready_prev:
+        self._arm_pre_active(desired_state)
+    elif self.state == "preActive":
+      if desired_state == "holding":
+        self.state = "holding"
+        self.pre_active_timer = 0
+      else:
+        desired_frames = self._get_pre_active_frames(desired_state)
+        self.pre_active_timer = max(0, min(self.pre_active_timer, desired_frames) - 1)
         if self.pre_active_timer <= 0:
-          if self.v_target == self.v_cruise_cluster:
-            self.state = "holding"
-          elif self.v_target > self.v_cruise_cluster:
-            self.state = "increasing"
-          elif self.v_target < self.v_cruise_cluster and self.v_cruise_cluster > self.v_cruise_min:
-            self.state = "decreasing"
-      elif self.state == "holding":
-        if self.v_target != self.v_cruise_cluster:
-          self.state = "preActive"
-      elif self.state == "increasing":
-        if self.v_target <= self.v_cruise_cluster:
-          self.state = "holding"
-      elif self.state == "decreasing":
-        if self.v_target >= self.v_cruise_cluster or self.v_cruise_cluster <= self.v_cruise_min:
-          self.state = "holding"
-    elif self.is_ready and not self.is_ready_prev:
-      self.pre_active_timer = int(INACTIVE_TIMER / DT_CTRL)
-      self.state = "preActive"
+          self.state = desired_state
+    elif self.state == "holding":
+      if desired_state != "holding":
+        self._arm_pre_active(desired_state)
+    elif self.state != desired_state:
+      if desired_state == "holding":
+        self.state = "holding"
+      else:
+        self._arm_pre_active(desired_state)
 
     return self._send_button_for_state(self.state)
 

selfdrive/car/tests/test_cruise_speed.py

@@ -55,6 +55,7 @@ class TestVCruiseHelper:
       cruise_increase=1,
       cruise_increase_long=5,
       is_metric=False,
+      reverse_cruise_increase=False,
       set_speed_limit=False,
     )
     self.reset_cruise_speed_state()
@@ -304,3 +305,75 @@ class TestVCruiseHelper:
     )
 
     assert self.v_cruise_helper.v_cruise_kph == pytest.approx(initial_v_cruise_kph + IMPERIAL_INCREMENT)
+
+
+class TestVCruiseHelperRedneck:
+  def setup_method(self):
+    self.CP = car.CarParams(pcmCruise=True)
+    self.FPCP = SimpleNamespace(pcmCruiseSpeed=False, redneckCruiseAvailable=True)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.FPCP)
+    self.starpilot_toggles = SimpleNamespace(
+      cruise_increase=1,
+      cruise_increase_long=5,
+      is_metric=False,
+      reverse_cruise_increase=False,
+      set_speed_limit=False,
+    )
+
+  def test_initialize_v_cruise_uses_cluster_speed(self):
+    cs = car.CarState(
+      vEgo=55 * CV.MPH_TO_MS,
+      cruiseState={"speedCluster": 62 * CV.MPH_TO_MS},
+    )
+    self.v_cruise_helper.initialize_v_cruise(cs, experimental_mode=False, resume_prev_button=False,
+                                             starpilot_toggles=self.starpilot_toggles)
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(62 * CV.MPH_TO_KPH)
+    assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(62 * CV.MPH_TO_KPH)
+
+  def test_update_v_cruise_does_not_follow_stock_pcm_speed(self):
+    cs = car.CarState(
+      vEgo=55 * CV.MPH_TO_MS,
+      cruiseState={"speedCluster": 62 * CV.MPH_TO_MS},
+    )
+    self.v_cruise_helper.initialize_v_cruise(cs, experimental_mode=False, resume_prev_button=False,
+                                             starpilot_toggles=self.starpilot_toggles)
+
+    update_cs = car.CarState(
+      cruiseState={"available": True, "speed": 50 * CV.MPH_TO_MS, "speedCluster": 50 * CV.MPH_TO_MS},
+    )
+    self.v_cruise_helper.update_v_cruise(update_cs, enabled=True, is_metric=False,
+                                         speed_limit_changed=False, starpilot_toggles=self.starpilot_toggles)
+
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(62 * CV.MPH_TO_KPH)
+    assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(62 * CV.MPH_TO_KPH)
+
+  def test_reverse_cruise_increase_swaps_short_and_long_press_intervals(self):
+    self.enable(55 * CV.MPH_TO_MS, experimental_mode=False)
+    initial_v_cruise_kph = self.v_cruise_helper.v_cruise_kph
+    self.starpilot_toggles.cruise_increase = 1
+    self.starpilot_toggles.cruise_increase_long = 5
+    self.starpilot_toggles.reverse_cruise_increase = True
+
+    pressed_cs = car.CarState(cruiseState={"available": True})
+    pressed_cs.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(
+      pressed_cs,
+      enabled=True,
+      is_metric=False,
+      speed_limit_changed=False,
+      starpilot_toggles=self.starpilot_toggles,
+    )
+
+    released_cs = car.CarState(cruiseState={"available": True})
+    released_cs.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(
+      released_cs,
+      enabled=True,
+      is_metric=False,
+      speed_limit_changed=False,
+      starpilot_toggles=self.starpilot_toggles,
+    )
+
+    reversed_interval = 5 * IMPERIAL_INCREMENT
+    expected_kph = math.ceil(initial_v_cruise_kph / reversed_interval) * reversed_interval
+    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(expected_kph)

selfdrive/car/tests/test_redneck_cruise.py

@@ -5,11 +5,13 @@ from cereal import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.redneck_cruise import (
-  INACTIVE_TIMER,
+  DECREASE_INACTIVE_TIMER,
+  INCREASE_INACTIVE_TIMER,
   RedneckCruise,
   SEND_BUTTON_DECREASE,
   SEND_BUTTON_INCREASE,
   SEND_BUTTON_NONE,
+  select_redneck_target_speed,
 )
 
 
@@ -40,7 +42,7 @@ class TestRedneckCruise(unittest.TestCase):
     return SimpleNamespace(type=button_type, pressed=pressed)
 
   def _run_until_active(self, target_mph, speed_cluster_mph=20.0, button_events=None, override=False, cancel=False, resume=False):
-    frames = int(INACTIVE_TIMER / DT_CTRL) + 2
+    frames = int(max(INCREASE_INACTIVE_TIMER, DECREASE_INACTIVE_TIMER) / DT_CTRL) + 2
     send_button = SEND_BUTTON_NONE
     v_target = 0
     for _ in range(frames):
@@ -53,6 +55,19 @@ class TestRedneckCruise(unittest.TestCase):
       button_events = None
     return send_button, v_target
 
+  def _frames_until_button(self, target_mph, speed_cluster_mph):
+    frames = int(INCREASE_INACTIVE_TIMER / DT_CTRL) + 4
+    for frame in range(frames):
+      send_button, _ = self.redneck.run(
+        self._new_state(speed_cluster_mph=speed_cluster_mph),
+        self._new_control(),
+        target_mph * CV.MPH_TO_MS,
+        is_metric=False,
+      )
+      if send_button != SEND_BUTTON_NONE:
+        return frame
+    return None
+
   def test_increases_cluster_speed_toward_target(self):
     send_button, v_target = self._run_until_active(target_mph=25.0, speed_cluster_mph=20.0)
     self.assertEqual(SEND_BUTTON_INCREASE, send_button)
@@ -63,6 +78,15 @@ class TestRedneckCruise(unittest.TestCase):
     self.assertEqual(SEND_BUTTON_DECREASE, send_button)
     self.assertEqual(20, v_target)
 
+  def test_decrease_activates_faster_than_increase(self):
+    decrease_frame = self._frames_until_button(target_mph=20.0, speed_cluster_mph=25.0)
+    self.redneck = RedneckCruise(self.CP, self.FPCP)
+    increase_frame = self._frames_until_button(target_mph=25.0, speed_cluster_mph=20.0)
+
+    self.assertIsNotNone(decrease_frame)
+    self.assertIsNotNone(increase_frame)
+    self.assertLess(decrease_frame, increase_frame)
+
   def test_suppresses_output_during_manual_cruise_button_use(self):
     button_event = self._button_event(ButtonType.accelCruise, True)
     send_button, _ = self._run_until_active(target_mph=25.0, speed_cluster_mph=20.0, button_events=[button_event])
@@ -85,6 +109,26 @@ class TestRedneckCruise(unittest.TestCase):
     self.assertEqual(SEND_BUTTON_NONE, send_button)
     self.assertEqual(0, v_target)
 
+  def test_target_speed_returns_internal_max_when_plan_only_wants_to_speed_back_up(self):
+    target_speed = select_redneck_target_speed(
+      120.0,
+      77.0 * CV.MPH_TO_MS,
+      0.0,
+      [78.3 * CV.MPH_TO_MS, 78.2 * CV.MPH_TO_MS, 78.1 * CV.MPH_TO_MS],
+      10,
+    )
+    self.assertAlmostEqual(120.0 * CV.KPH_TO_MS, target_speed)
+
+  def test_target_speed_returns_plan_minimum_when_slowing_down(self):
+    target_speed = select_redneck_target_speed(
+      120.0,
+      75.0 * CV.MPH_TO_MS,
+      0.0,
+      [74.0 * CV.MPH_TO_MS, 72.0 * CV.MPH_TO_MS, 71.0 * CV.MPH_TO_MS],
+      10,
+    )
+    self.assertAlmostEqual(71.0 * CV.MPH_TO_MS, target_speed)
+
 
 if __name__ == "__main__":
   unittest.main()

selfdrive/controls/lib/desire_helper.py

@@ -1,5 +1,10 @@
+import json
+
+import numpy as np
+
 from cereal import log
 from openpilot.common.constants import CV
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 
 LaneChangeState = log.LaneChangeState
@@ -7,6 +12,10 @@ LaneChangeDirection = log.LaneChangeDirection
 
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
+NAV_TURN_DISTANCE_SPEED_BREAKPOINTS = [0.0, 5.0, 10.0]
+NAV_TURN_DISTANCE_BREAKPOINTS = [20.0, 25.0, 30.0]
+NAV_KEEP_DISTANCE_SPEED_BREAKPOINTS = [0.0, 15.0, 30.0]
+NAV_KEEP_DISTANCE_BREAKPOINTS = [25.0, 90.0, 160.0]
 
 DESIRES = {
   LaneChangeDirection.none: {
@@ -40,6 +49,8 @@ TURN_DESIRES = {
 
 class DesireHelper:
   def __init__(self):
+    self.params = Params()
+    self.params_memory = Params(memory=True)
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
@@ -51,6 +62,117 @@ class DesireHelper:
     self.lane_change_completed = False
 
     self.lane_change_wait_timer = 0.0
+    self.nav_desires_allowed = False
+    self._nav_param_counter = -1
+    self._nav_instruction_state_raw: object = None
+    self._nav_instruction_state: dict[str, object] = {}
+
+  def _update_nav_params(self):
+    self._nav_param_counter += 1
+    if self._nav_param_counter % 60 == 0:
+      self.nav_desires_allowed = self.params.get_bool("NavDesiresAllowed")
+
+    raw = self.params_memory.get("NavInstructionState") or {}
+    if raw == self._nav_instruction_state_raw:
+      return
+
+    self._nav_instruction_state_raw = raw
+    if not raw:
+      self._nav_instruction_state = {}
+      return
+
+    if isinstance(raw, dict):
+      self._nav_instruction_state = raw
+      return
+
+    if isinstance(raw, str):
+      try:
+        parsed = json.loads(raw)
+        self._nav_instruction_state = parsed if isinstance(parsed, dict) else {}
+        return
+      except Exception:
+        pass
+
+    self._nav_instruction_state = {}
+
+  @staticmethod
+  def _nav_keep_direction_is_clear(carstate, lane_change_direction):
+    return not (
+      (lane_change_direction == LaneChangeDirection.left and carstate.leftBlindspot) or
+      (lane_change_direction == LaneChangeDirection.right and carstate.rightBlindspot)
+    )
+
+  @staticmethod
+  def _nav_torque_applied(carstate, lane_change_direction):
+    return carstate.steeringPressed and (
+      (lane_change_direction == LaneChangeDirection.left and carstate.steeringTorque > 0) or
+      (lane_change_direction == LaneChangeDirection.right and carstate.steeringTorque < 0)
+    )
+
+  @staticmethod
+  def _nav_turn_is_imminent(carstate, maneuver_distance):
+    try:
+      distance = float(maneuver_distance)
+    except (TypeError, ValueError):
+      return False
+
+    return distance <= float(np.interp(carstate.vEgo, NAV_TURN_DISTANCE_SPEED_BREAKPOINTS, NAV_TURN_DISTANCE_BREAKPOINTS))
+
+  @staticmethod
+  def _nav_keep_is_imminent(carstate, maneuver_distance):
+    try:
+      distance = float(maneuver_distance)
+    except (TypeError, ValueError):
+      return False
+
+    return distance <= float(np.interp(carstate.vEgo, NAV_KEEP_DISTANCE_SPEED_BREAKPOINTS, NAV_KEEP_DISTANCE_BREAKPOINTS))
+
+  @staticmethod
+  def _nav_effective_modifier(nav_instruction_state, carstate, maneuver_distance):
+    modifier = str(nav_instruction_state.get("maneuverModifier", ""))
+    maneuver_type = str(nav_instruction_state.get("maneuverType", ""))
+    active_lane_direction = str(nav_instruction_state.get("activeLaneDirection", ""))
+
+    if modifier in ("left", "right") and maneuver_type in ("off ramp", "fork") and DesireHelper._nav_keep_is_imminent(carstate, maneuver_distance):
+      if active_lane_direction in ("slightLeft", "left"):
+        return "slightLeft"
+      if active_lane_direction in ("slightRight", "right"):
+        return "slightRight"
+
+    return modifier
+
+  def _navigation_desire(self, carstate, lateral_active, starpilotPlan, starpilot_toggles):
+    self._update_nav_params()
+    if not self.nav_desires_allowed or not lateral_active or not bool(self._nav_instruction_state.get("valid", False)):
+      return log.Desire.none
+
+    maneuver_distance = self._nav_instruction_state.get("maneuverDistance", 0.0)
+    modifier = self._nav_effective_modifier(self._nav_instruction_state, carstate, maneuver_distance)
+    if modifier == "":
+      return log.Desire.none
+
+    if modifier == "slightLeft":
+      lane_change_direction = LaneChangeDirection.left
+      desired_lane_width = starpilotPlan.laneWidthLeft
+      nudgeless_allowed = starpilot_toggles.nudgeless and desired_lane_width >= starpilot_toggles.lane_detection_width
+      if not carstate.rightBlinker and self._nav_keep_direction_is_clear(carstate, lane_change_direction):
+        if self._nav_torque_applied(carstate, lane_change_direction) or nudgeless_allowed:
+          return log.Desire.keepLeft
+    elif modifier == "slightRight":
+      lane_change_direction = LaneChangeDirection.right
+      desired_lane_width = starpilotPlan.laneWidthRight
+      nudgeless_allowed = starpilot_toggles.nudgeless and desired_lane_width >= starpilot_toggles.lane_detection_width
+      if not carstate.leftBlinker and self._nav_keep_direction_is_clear(carstate, lane_change_direction):
+        if self._nav_torque_applied(carstate, lane_change_direction) or nudgeless_allowed:
+          return log.Desire.keepRight
+    elif modifier in ("left", "sharpLeft"):
+      if not carstate.rightBlinker and not carstate.leftBlindspot and carstate.vEgo < starpilot_toggles.minimum_lane_change_speed and not carstate.standstill and self._nav_turn_is_imminent(carstate, maneuver_distance):
+        return log.Desire.turnLeft
+    elif modifier in ("right", "sharpRight"):
+      if not carstate.leftBlinker and not carstate.rightBlindspot and carstate.vEgo < starpilot_toggles.minimum_lane_change_speed and not carstate.standstill and self._nav_turn_is_imminent(carstate, maneuver_distance):
+        return log.Desire.turnRight
+
+    return log.Desire.none
 
   @staticmethod
   def get_lane_change_direction(CS):
@@ -155,3 +277,7 @@ class DesireHelper:
       self.lane_change_completed = False
 
       self.lane_change_wait_timer = 0.0
+
+    nav_desire = self._navigation_desire(carstate, lateral_active, starpilotPlan, starpilot_toggles)
+    if nav_desire != log.Desire.none and self.lane_change_state == LaneChangeState.off:
+      self.desire = nav_desire

selfdrive/controls/lib/latcontrol_torque.py

@@ -113,6 +113,10 @@ VOLT_STANDARD_CARS = (
 GENESIS_G90_CARS = (
   HYUNDAI_CAR.GENESIS_G90,
 )
+PALISADE_CARS = (
+  HYUNDAI_CAR.HYUNDAI_PALISADE,
+  HYUNDAI_CAR.HYUNDAI_PALISADE_2023,
+)
 IONIQ_5_CARS = (
   HYUNDAI_CAR.HYUNDAI_IONIQ_5,
 )
@@ -126,6 +130,9 @@ IONIQ_6_CARS = (
 SONATA_HYBRID_CARS = (
   HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID,
 )
+SONATA_CARS = (
+  HYUNDAI_CAR.HYUNDAI_SONATA,
+)
 ELANTRA_NON_SCC_CARS = (
   HYUNDAI_CAR.HYUNDAI_ELANTRA_2022_NON_SCC,
   HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC,
@@ -244,10 +251,10 @@ VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.018
 VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
 VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
 
-SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.04
-SONATA_HYBRID_FF_REDUCTION_LEFT = 0.07
-SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.22
-SONATA_HYBRID_FF_ONSET = 0.22
+SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.05
+SONATA_HYBRID_FF_REDUCTION_LEFT = 0.09
+SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.24
+SONATA_HYBRID_FF_ONSET = 0.18
 SONATA_HYBRID_FF_ONSET_WIDTH = 0.08
 SONATA_HYBRID_FF_CUTOFF = 1.35
 SONATA_HYBRID_FF_CUTOFF_WIDTH = 0.40
@@ -257,17 +264,40 @@ SONATA_HYBRID_TURN_IN_BOOST_LEFT = 0.12
 SONATA_HYBRID_TURN_IN_BOOST_RIGHT = 0.00
 SONATA_HYBRID_UNWIND_TAPER_LEFT = 0.18
 SONATA_HYBRID_UNWIND_TAPER_RIGHT = 0.10
-SONATA_HYBRID_CENTER_TAPER_MAX = 0.05
-SONATA_HYBRID_CENTER_TAPER_LAT = 0.14
+SONATA_HYBRID_CENTER_TAPER_MAX = 0.07
+SONATA_HYBRID_CENTER_TAPER_LAT = 0.16
 SONATA_HYBRID_CENTER_TAPER_LAT_WIDTH = 0.025
 SONATA_HYBRID_CENTER_TAPER_SPEED = 22.0
 SONATA_HYBRID_CENTER_TAPER_SPEED_WIDTH = 2.5
-SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX = 0.12
-SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT = 0.09
+SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX = 0.14
+SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT = 0.10
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02
-SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 6.0
+SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 7.5
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.0
 
+SONATA_FF_REDUCTION_LEFT = 0.04
+SONATA_FF_REDUCTION_RIGHT = 0.26
+SONATA_FF_ONSET = 0.18
+SONATA_FF_ONSET_WIDTH = 0.08
+SONATA_FF_CUTOFF = 1.40
+SONATA_FF_CUTOFF_WIDTH = 0.42
+SONATA_TRANSITION_SPEED = 8.5
+SONATA_PHASE_SCALE = 0.12
+SONATA_TURN_IN_BOOST_LEFT = 0.18
+SONATA_TURN_IN_BOOST_RIGHT = 0.00
+SONATA_UNWIND_TAPER_LEFT = 0.28
+SONATA_UNWIND_TAPER_RIGHT = 0.00
+SONATA_CENTER_TAPER_MAX = 0.04
+SONATA_CENTER_TAPER_LAT = 0.15
+SONATA_CENTER_TAPER_LAT_WIDTH = 0.025
+SONATA_CENTER_TAPER_SPEED = 22.0
+SONATA_CENTER_TAPER_SPEED_WIDTH = 2.5
+SONATA_LOW_SPEED_CENTER_TAPER_MAX = 0.08
+SONATA_LOW_SPEED_CENTER_TAPER_LAT = 0.10
+SONATA_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02
+SONATA_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 7.0
+SONATA_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.0
+
 ELANTRA_NON_SCC_FF_ADJUST_LEFT = 0.02
 ELANTRA_NON_SCC_FF_ADJUST_RIGHT = -0.02
 ELANTRA_NON_SCC_FF_ONSET = 0.14
@@ -281,25 +311,50 @@ ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT = 0.12
 ELANTRA_NON_SCC_UNWIND_TAPER_LEFT = 0.22
 ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT = 0.12
 
-KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.08
-KIA_FORTE_FF_REDUCTION_LEFT = 0.08
-KIA_FORTE_FF_REDUCTION_RIGHT = 0.20
+KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.10
+KIA_FORTE_FF_REDUCTION_LEFT = 0.10
+KIA_FORTE_FF_REDUCTION_RIGHT = 0.24
 KIA_FORTE_FF_ONSET = 0.16
 KIA_FORTE_FF_ONSET_WIDTH = 0.06
 KIA_FORTE_FF_CUTOFF = 1.20
 KIA_FORTE_FF_CUTOFF_WIDTH = 0.36
 KIA_FORTE_TRANSITION_SPEED = 9.0
 KIA_FORTE_PHASE_SCALE = 0.10
-KIA_FORTE_TURN_IN_BOOST_LEFT = 0.06
+KIA_FORTE_TURN_IN_BOOST_LEFT = 0.10
 KIA_FORTE_TURN_IN_BOOST_RIGHT = 0.00
-KIA_FORTE_UNWIND_TAPER_LEFT = 0.18
-KIA_FORTE_UNWIND_TAPER_RIGHT = 0.08
-KIA_FORTE_CENTER_TAPER_MAX = 0.11
-KIA_FORTE_CENTER_TAPER_LAT = 0.14
+KIA_FORTE_UNWIND_TAPER_LEFT = 0.26
+KIA_FORTE_UNWIND_TAPER_RIGHT = 0.04
+KIA_FORTE_CENTER_TAPER_MAX = 0.14
+KIA_FORTE_CENTER_TAPER_LAT = 0.16
 KIA_FORTE_CENTER_TAPER_LAT_WIDTH = 0.03
 KIA_FORTE_CENTER_TAPER_SPEED = 24.0
 KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 2.5
 
+PALISADE_BASE_LAT_ACCEL_FACTOR_MULT = 0.98
+PALISADE_FF_GAIN_LEFT = 0.14
+PALISADE_FF_GAIN_RIGHT = 0.12
+PALISADE_FF_ONSET = 0.08
+PALISADE_FF_ONSET_WIDTH = 0.04
+PALISADE_FF_CUTOFF = 1.25
+PALISADE_FF_CUTOFF_WIDTH = 0.36
+PALISADE_TRANSITION_SPEED = 9.0
+PALISADE_PHASE_SCALE = 0.11
+PALISADE_TURN_IN_BOOST_LEFT = 0.34
+PALISADE_TURN_IN_BOOST_RIGHT = 0.24
+PALISADE_UNWIND_TAPER_LEFT = 0.18
+PALISADE_UNWIND_TAPER_RIGHT = 0.30
+PALISADE_FRICTION_MULT = 1.02
+PALISADE_FRICTION_LAT_RISE = 0.20
+PALISADE_FRICTION_JERK_RISE = 0.24
+PALISADE_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.18
+PALISADE_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
+PALISADE_UNWIND_THRESHOLD_INCREASE_LEFT = 0.14
+PALISADE_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.22
+PALISADE_TURN_IN_FRICTION_BOOST_LEFT = 0.08
+PALISADE_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
+PALISADE_UNWIND_FRICTION_REDUCTION_LEFT = 0.12
+PALISADE_UNWIND_FRICTION_REDUCTION_RIGHT = 0.20
+
 GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
 GENESIS_G90_FF_GAIN_LEFT = 0.32
 GENESIS_G90_FF_GAIN_RIGHT = 0.16
@@ -325,27 +380,32 @@ GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.14
 GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.04
 GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30
 
-IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT = 1.18
+IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT = 1.22
 IONIQ_5_FF_ONSET = 0.10
 IONIQ_5_FF_ONSET_WIDTH = 0.05
 IONIQ_5_FF_CUTOFF = 1.20
 IONIQ_5_FF_CUTOFF_WIDTH = 0.30
-IONIQ_5_TRANSITION_SPEED = 11.0
+IONIQ_5_TRANSITION_SPEED = 12.5
 IONIQ_5_PHASE_SCALE = 0.10
-IONIQ_5_FF_REDUCTION_LEFT = 0.10
-IONIQ_5_FF_REDUCTION_RIGHT = 0.18
-IONIQ_5_TURN_IN_BOOST_LEFT = 0.04
-IONIQ_5_TURN_IN_BOOST_RIGHT = 0.00
-IONIQ_5_UNWIND_TAPER_LEFT = 0.40
-IONIQ_5_UNWIND_TAPER_RIGHT = 0.70
-IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.05
-IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.00
-IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.18
-IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.32
-IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.02
-IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
-IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.15
-IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.26
+IONIQ_5_FF_REDUCTION_LEFT = 0.12
+IONIQ_5_FF_REDUCTION_RIGHT = 0.22
+IONIQ_5_TURN_IN_BOOST_LEFT = 0.14
+IONIQ_5_TURN_IN_BOOST_RIGHT = 0.06
+IONIQ_5_UNWIND_TAPER_LEFT = 0.76
+IONIQ_5_UNWIND_TAPER_RIGHT = 0.86
+IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
+IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.05
+IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.36
+IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.38
+IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.04
+IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.03
+IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.34
+IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.34
+IONIQ_5_CENTER_TAPER_MAX = 0.14
+IONIQ_5_CENTER_TAPER_LAT = 0.12
+IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.03
+IONIQ_5_CENTER_TAPER_SPEED = 16.0
+IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.5
 
 IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.16
 IONIQ_EV_OLD_FF_REDUCTION_LEFT = 0.16
@@ -438,29 +498,34 @@ IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97
 
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
-KIA_EV6_FF_GAIN_LEFT = 0.07
-KIA_EV6_FF_GAIN_RIGHT = 0.10
+KIA_EV6_FF_GAIN_LEFT = 0.06
+KIA_EV6_FF_GAIN_RIGHT = 0.07
 KIA_EV6_FF_ONSET = 0.08
 KIA_EV6_FF_ONSET_WIDTH = 0.04
 KIA_EV6_FF_CUTOFF = 0.60
 KIA_EV6_FF_CUTOFF_WIDTH = 0.14
 KIA_EV6_TRANSITION_SPEED = 11.0
 KIA_EV6_PHASE_SCALE = 0.09
-KIA_EV6_TURN_IN_BOOST_LEFT = 0.14
-KIA_EV6_TURN_IN_BOOST_RIGHT = 0.22
-KIA_EV6_UNWIND_TAPER_LEFT = 0.26
-KIA_EV6_UNWIND_TAPER_RIGHT = 0.34
+KIA_EV6_TURN_IN_BOOST_LEFT = 0.18
+KIA_EV6_TURN_IN_BOOST_RIGHT = 0.12
+KIA_EV6_UNWIND_TAPER_LEFT = 0.48
+KIA_EV6_UNWIND_TAPER_RIGHT = 0.46
 KIA_EV6_FRICTION_MULT = 1.01
 KIA_EV6_FRICTION_LAT_RISE = 0.18
 KIA_EV6_FRICTION_JERK_RISE = 0.22
 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
-KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.14
-KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.18
-KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.03
+KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
+KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
+KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.04
 KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
-KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.12
-KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.15
+KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.28
+KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
+KIA_EV6_CENTER_TAPER_MAX = 0.08
+KIA_EV6_CENTER_TAPER_LAT = 0.16
+KIA_EV6_CENTER_TAPER_LAT_WIDTH = 0.035
+KIA_EV6_CENTER_TAPER_SPEED = 18.0
+KIA_EV6_CENTER_TAPER_SPEED_WIDTH = 3.0
 
 VOLT_PLEXY_LATERAL_TESTING_GROUND_ID = testing_ground.id_7
 VOLT_PLEXY_FF_GAIN_LEFT = 0.12
@@ -983,6 +1048,53 @@ def get_sonata_hybrid_center_taper_scale(desired_lateral_accel: float, v_ego: fl
   return 1.0 - reduction
 
 
+def _sonata_sigmoid(x: float) -> float:
+  return _sigmoid(x)
+
+
+def _sonata_low_speed_factor(v_ego: float) -> float:
+  return 1.0 / (1.0 + (max(v_ego, 0.0) / SONATA_TRANSITION_SPEED) ** 2)
+
+
+def _sonata_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  return math.tanh((desired_lateral_accel * desired_lateral_jerk) / SONATA_PHASE_SCALE)
+
+
+def _sonata_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
+  return left_value if desired_lateral_accel >= 0.0 else right_value
+
+
+def get_sonata_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
+  if desired_lateral_accel == 0.0:
+    return 1.0
+
+  abs_lateral_accel = abs(desired_lateral_accel)
+  onset = _sonata_sigmoid((abs_lateral_accel - SONATA_FF_ONSET) / SONATA_FF_ONSET_WIDTH)
+  cutoff = _sonata_sigmoid((SONATA_FF_CUTOFF - abs_lateral_accel) / SONATA_FF_CUTOFF_WIDTH)
+  base_reduction = _sonata_side_value(desired_lateral_accel, SONATA_FF_REDUCTION_LEFT, SONATA_FF_REDUCTION_RIGHT) * onset * cutoff
+  phase = _sonata_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  low_speed_factor = _sonata_low_speed_factor(v_ego)
+  turn_in_boost = 1.0 + (_sonata_side_value(desired_lateral_accel, SONATA_TURN_IN_BOOST_LEFT, SONATA_TURN_IN_BOOST_RIGHT) *
+                         turn_in_weight * low_speed_factor)
+  unwind_taper = 1.0 - (_sonata_side_value(desired_lateral_accel, SONATA_UNWIND_TAPER_LEFT, SONATA_UNWIND_TAPER_RIGHT) *
+                        unwind_weight * (0.35 + 0.65 * low_speed_factor))
+  return (1.0 - base_reduction) * turn_in_boost * max(unwind_taper, 0.0)
+
+
+def get_sonata_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
+  speed_weight = _sonata_sigmoid((v_ego - SONATA_CENTER_TAPER_SPEED) / SONATA_CENTER_TAPER_SPEED_WIDTH)
+  center_weight = _sonata_sigmoid((SONATA_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / SONATA_CENTER_TAPER_LAT_WIDTH)
+  reduction = SONATA_CENTER_TAPER_MAX * speed_weight * center_weight
+  low_speed_weight = _sonata_sigmoid((SONATA_LOW_SPEED_CENTER_TAPER_SPEED_MAX - v_ego) /
+                                     SONATA_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH)
+  low_speed_center_weight = _sonata_sigmoid((SONATA_LOW_SPEED_CENTER_TAPER_LAT - abs(desired_lateral_accel)) /
+                                            SONATA_LOW_SPEED_CENTER_TAPER_LAT_WIDTH)
+  reduction += SONATA_LOW_SPEED_CENTER_TAPER_MAX * low_speed_weight * low_speed_center_weight
+  return 1.0 - reduction
+
+
 def _elantra_non_scc_sigmoid(x: float) -> float:
   return _sigmoid(x)
 
@@ -1067,6 +1179,74 @@ def get_kia_forte_center_taper_scale(desired_lateral_accel: float, v_ego: float)
   return 1.0 - reduction
 
 
+def _palisade_sigmoid(x: float) -> float:
+  return _sigmoid(x)
+
+
+def _palisade_low_speed_factor(v_ego: float) -> float:
+  return 1.0 / (1.0 + (max(v_ego, 0.0) / PALISADE_TRANSITION_SPEED) ** 2)
+
+
+def _palisade_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  return math.tanh((desired_lateral_accel * desired_lateral_jerk) / PALISADE_PHASE_SCALE)
+
+
+def _palisade_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
+  return left_value if desired_lateral_accel >= 0.0 else right_value
+
+
+def _palisade_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / PALISADE_FRICTION_LAT_RISE)
+  jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / PALISADE_FRICTION_JERK_RISE)
+  return _palisade_low_speed_factor(v_ego) * lat_factor * jerk_factor
+
+
+def get_palisade_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
+  if desired_lateral_accel == 0.0:
+    return 1.0
+
+  gain = _palisade_side_value(desired_lateral_accel, PALISADE_FF_GAIN_LEFT, PALISADE_FF_GAIN_RIGHT)
+  abs_lateral_accel = abs(desired_lateral_accel)
+  onset = _palisade_sigmoid((abs_lateral_accel - PALISADE_FF_ONSET) / PALISADE_FF_ONSET_WIDTH)
+  cutoff = _palisade_sigmoid((PALISADE_FF_CUTOFF - abs_lateral_accel) / PALISADE_FF_CUTOFF_WIDTH)
+  extra_scale = gain * onset * cutoff
+  phase = _palisade_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  low_speed_factor = _palisade_low_speed_factor(v_ego)
+  turn_in_boost = 1.0 + (_palisade_side_value(desired_lateral_accel, PALISADE_TURN_IN_BOOST_LEFT, PALISADE_TURN_IN_BOOST_RIGHT) *
+                          turn_in_weight * (0.35 + 0.65 * low_speed_factor))
+  unwind_taper = 1.0 - (_palisade_side_value(desired_lateral_accel, PALISADE_UNWIND_TAPER_LEFT, PALISADE_UNWIND_TAPER_RIGHT) *
+                         unwind_weight * (0.35 + 0.65 * low_speed_factor))
+  return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
+
+
+def get_palisade_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
+  base_threshold = get_friction_threshold(v_ego)
+  transition_envelope = _palisade_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _palisade_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  threshold_scale = 1.0 - (_palisade_side_value(desired_lateral_accel, PALISADE_TURN_IN_THRESHOLD_REDUCTION_LEFT, PALISADE_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
+                           transition_envelope * turn_in_weight)
+  threshold_scale += (_palisade_side_value(desired_lateral_accel, PALISADE_UNWIND_THRESHOLD_INCREASE_LEFT, PALISADE_UNWIND_THRESHOLD_INCREASE_RIGHT) *
+                      transition_envelope * unwind_weight)
+  return base_threshold * min(max(threshold_scale, 0.84), 1.14)
+
+
+def get_palisade_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  transition_envelope = _palisade_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _palisade_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  friction_scale = PALISADE_FRICTION_MULT
+  friction_scale += (_palisade_side_value(desired_lateral_accel, PALISADE_TURN_IN_FRICTION_BOOST_LEFT, PALISADE_TURN_IN_FRICTION_BOOST_RIGHT) *
+                     transition_envelope * turn_in_weight)
+  friction_scale -= (_palisade_side_value(desired_lateral_accel, PALISADE_UNWIND_FRICTION_REDUCTION_LEFT, PALISADE_UNWIND_FRICTION_REDUCTION_RIGHT) *
+                     transition_envelope * unwind_weight)
+  return min(max(friction_scale, 0.92), 1.12)
+
+
 def genesis_g90_lateral_testing_ground_active() -> bool:
   return testing_ground.use(GENESIS_G90_LATERAL_TESTING_GROUND_ID)
 
@@ -1211,6 +1391,13 @@ def get_ioniq_5_friction_scale(v_ego: float, desired_lateral_accel: float, desir
   return min(max(friction_scale, 0.86), 1.04)
 
 
+def get_ioniq_5_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
+  speed_weight = _ioniq_5_sigmoid((v_ego - IONIQ_5_CENTER_TAPER_SPEED) / IONIQ_5_CENTER_TAPER_SPEED_WIDTH)
+  center_weight = _ioniq_5_sigmoid((IONIQ_5_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_5_CENTER_TAPER_LAT_WIDTH)
+  reduction = IONIQ_5_CENTER_TAPER_MAX * speed_weight * center_weight
+  return 1.0 - reduction
+
+
 def _ioniq_ev_old_sigmoid(x: float) -> float:
   return _sigmoid(x)
 
@@ -1454,6 +1641,13 @@ def get_kia_ev6_friction_scale(v_ego: float, desired_lateral_accel: float, desir
   return min(max(friction_scale, 0.90), 1.10)
 
 
+def get_kia_ev6_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
+  speed_weight = _kia_ev6_sigmoid((v_ego - KIA_EV6_CENTER_TAPER_SPEED) / KIA_EV6_CENTER_TAPER_SPEED_WIDTH)
+  center_weight = _kia_ev6_sigmoid((KIA_EV6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_EV6_CENTER_TAPER_LAT_WIDTH)
+  reduction = KIA_EV6_CENTER_TAPER_MAX * speed_weight * center_weight
+  return 1.0 - reduction
+
+
 def volt_plexy_lateral_testing_ground_active() -> bool:
   return testing_ground.use(VOLT_PLEXY_LATERAL_TESTING_GROUND_ID)
 
@@ -1553,9 +1747,11 @@ class LatControlTorque(LatControl):
     self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
     self.is_volt_standard = CP.carFingerprint in VOLT_STANDARD_CARS
     self.is_genesis_g90 = CP.carFingerprint in GENESIS_G90_CARS
+    self.is_palisade = CP.carFingerprint in PALISADE_CARS
     self.is_ioniq_5 = CP.carFingerprint in IONIQ_5_CARS
     self.is_ioniq_ev_old = CP.carFingerprint in IONIQ_EV_OLD_CARS
     self.is_ioniq_6 = CP.carFingerprint in IONIQ_6_CARS
+    self.is_sonata = CP.carFingerprint in SONATA_CARS
     self.is_sonata_hybrid = CP.carFingerprint in SONATA_HYBRID_CARS
     self.is_elantra_non_scc = CP.carFingerprint in ELANTRA_NON_SCC_CARS
     self.is_kia_forte = CP.carFingerprint in KIA_FORTE_CARS
@@ -1569,6 +1765,8 @@ class LatControlTorque(LatControl):
     self.torque_ff_scale_neg = 1.0
     self.torque_deadzone_boost = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
     self.torque_ki_mult = 1.0
+    if self.is_palisade:
+      self.torque_params.latAccelFactor *= PALISADE_BASE_LAT_ACCEL_FACTOR_MULT
     if self.is_ioniq_5:
       self.torque_params.latAccelFactor *= IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT
     if self.is_ioniq_ev_old:
@@ -1596,6 +1794,8 @@ class LatControlTorque(LatControl):
         self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    if self.is_palisade:
+      latAccelFactor *= PALISADE_BASE_LAT_ACCEL_FACTOR_MULT
     if self.is_ioniq_5:
       latAccelFactor *= IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT
     if self.is_ioniq_ev_old:
@@ -1679,19 +1879,24 @@ class LatControlTorque(LatControl):
       bolt_2018_2021_tuned_path_active = self.is_bolt_2018_2021
       volt_standard_test_active = self.is_volt_standard and volt_standard_lateral_testing_ground_active()
       genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active()
+      palisade_active = self.is_palisade
       ioniq_5_active = self.is_ioniq_5
       ioniq_ev_old_active = self.is_ioniq_ev_old
       ioniq_6_active = self.is_ioniq_6
+      sonata_active = self.is_sonata
       sonata_hybrid_active = self.is_sonata_hybrid
       elantra_non_scc_active = self.is_elantra_non_scc
       kia_forte_active = self.is_kia_forte
       kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
       volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active()
+      ioniq_5_center_taper = get_ioniq_5_center_taper_scale(setpoint, CS.vEgo) if ioniq_5_active else 1.0
       volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
       ioniq_ev_old_center_taper = get_ioniq_ev_old_center_taper_scale(setpoint, CS.vEgo) if ioniq_ev_old_active else 1.0
       ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_active else 1.0
+      sonata_center_taper = get_sonata_center_taper_scale(setpoint, CS.vEgo) if sonata_active else 1.0
       sonata_hybrid_center_taper = get_sonata_hybrid_center_taper_scale(setpoint, CS.vEgo) if sonata_hybrid_active else 1.0
       kia_forte_center_taper = get_kia_forte_center_taper_scale(setpoint, CS.vEgo) if kia_forte_active else 1.0
+      kia_ev6_center_taper = get_kia_ev6_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_test_active else 1.0
       civic_bosch_modified_a_center_taper = get_civic_bosch_modified_a_center_taper_scale(setpoint, CS.vEgo) if (
         self.is_civic_bosch_modified and civic_bosch_modified_a_lateral_testing_ground_active()
       ) else 1.0
@@ -1713,10 +1918,15 @@ class LatControlTorque(LatControl):
         ff *= get_genesis_g90_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
         friction_threshold = get_genesis_g90_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
         friction_scale = get_genesis_g90_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+      elif palisade_active:
+        ff *= get_palisade_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        friction_threshold = get_palisade_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = get_palisade_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
       elif ioniq_5_active:
-        ff *= get_ioniq_5_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        ff *= get_ioniq_5_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_5_center_taper
         friction_threshold = get_ioniq_5_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
         friction_scale = get_ioniq_5_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_5_center_taper)
       elif ioniq_ev_old_active:
         ff *= get_ioniq_ev_old_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_ev_old_center_taper
         friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_ev_old_center_taper)
@@ -1725,6 +1935,8 @@ class LatControlTorque(LatControl):
         friction_threshold = get_ioniq_6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) / max(ioniq_6_center_taper, 1e-3)
         friction_scale = get_ioniq_6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
         friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_6_center_taper)
+      elif sonata_active:
+        ff *= get_sonata_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * sonata_center_taper
       elif sonata_hybrid_active:
         ff *= get_sonata_hybrid_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * sonata_hybrid_center_taper
       elif elantra_non_scc_active:
@@ -1732,9 +1944,10 @@ class LatControlTorque(LatControl):
       elif kia_forte_active:
         ff *= get_kia_forte_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_forte_center_taper
       elif kia_ev6_test_active:
-        ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_ev6_center_taper
         friction_threshold = get_kia_ev6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
         friction_scale = get_kia_ev6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = 1.0 + ((friction_scale - 1.0) * kia_ev6_center_taper)
       elif volt_plexy_test_active:
         ff *= get_volt_plexy_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
         friction_threshold = get_volt_plexy_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -79,6 +79,13 @@ FAR_RADAR_LEAD_ACCEL_TAPER_FULL_GAP_EXCESS = 25.0
 FAR_RADAR_LEAD_ACCEL_TAPER_FULL_GAP_GAIN = 0.9
 RADARLESS_MATCHED_FOLLOW_CRUISE_HYSTERESIS_MIN = 2.5
 RADARLESS_MATCHED_FOLLOW_CRUISE_HYSTERESIS_GAIN = 0.10
+NEAR_DUPLICATE_LEAD_SOURCE_MIN_SPEED = 20.0
+NEAR_DUPLICATE_LEAD_SOURCE_MIN_MODEL_PROB = 0.9
+NEAR_DUPLICATE_LEAD_SOURCE_MAX_LEAD_BRAKE = 0.35
+NEAR_DUPLICATE_LEAD_SOURCE_MAX_DREL_DIFF = 1.5
+NEAR_DUPLICATE_LEAD_SOURCE_MAX_VREL_DIFF = 0.35
+NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MIN = 0.75
+NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MAX = 1.5
 
 # Function to get parameter value based on current speed
 def get_speed_based_param(speed_mph, param_array):
@@ -492,9 +499,9 @@ class LongitudinalMpc:
 
     # Adjust filter time constants for complex scenes
     if abs(filter_time_factor - getattr(self, 'prev_filter_time_factor', 1.0)) > 0.05:
+      new_filter_time = self.current_filter_time * filter_time_factor
       current_a = self.lead_a_filter.x if hasattr(self.lead_a_filter, 'x') else 0.0
       current_v = self.lead_v_filter.x if hasattr(self.lead_v_filter, 'x') else 0.0
-      new_filter_time = self.current_filter_time * filter_time_factor
       self.lead_a_filter = FirstOrderFilter(current_a, new_filter_time, self.dt)
       self.lead_v_filter = FirstOrderFilter(current_v, new_filter_time, self.dt)
       self.prev_filter_time_factor = filter_time_factor
@@ -583,6 +590,43 @@ class LongitudinalMpc:
     return max(RADARLESS_MATCHED_FOLLOW_CRUISE_HYSTERESIS_MIN,
                RADARLESS_MATCHED_FOLLOW_CRUISE_HYSTERESIS_GAIN * float(v_ego))
 
+  @staticmethod
+  def leads_are_near_duplicates(lead_one, lead_two, v_ego):
+    if lead_one is None or lead_two is None or not lead_one.status or not lead_two.status:
+      return False
+    if float(v_ego) < NEAR_DUPLICATE_LEAD_SOURCE_MIN_SPEED:
+      return False
+    if bool(getattr(lead_one, "radar", False)) or bool(getattr(lead_two, "radar", False)):
+      return False
+    if float(getattr(lead_one, "modelProb", 0.0)) < NEAR_DUPLICATE_LEAD_SOURCE_MIN_MODEL_PROB:
+      return False
+    if float(getattr(lead_two, "modelProb", 0.0)) < NEAR_DUPLICATE_LEAD_SOURCE_MIN_MODEL_PROB:
+      return False
+    if max(0.0, -float(getattr(lead_one, "aLeadK", 0.0))) > NEAR_DUPLICATE_LEAD_SOURCE_MAX_LEAD_BRAKE:
+      return False
+    if max(0.0, -float(getattr(lead_two, "aLeadK", 0.0))) > NEAR_DUPLICATE_LEAD_SOURCE_MAX_LEAD_BRAKE:
+      return False
+
+    return (
+      abs(float(lead_one.dRel) - float(lead_two.dRel)) <= NEAR_DUPLICATE_LEAD_SOURCE_MAX_DREL_DIFF and
+      abs(float(lead_one.vRel) - float(lead_two.vRel)) <= NEAR_DUPLICATE_LEAD_SOURCE_MAX_VREL_DIFF
+    )
+
+  def get_near_duplicate_lead_source_hysteresis(self, prev_source, lead_one, lead_two, v_ego):
+    if prev_source not in ("lead0", "lead1"):
+      return 0.0, 0.0
+    if not self.leads_are_near_duplicates(lead_one, lead_two, v_ego):
+      return 0.0, 0.0
+
+    hysteresis = float(np.interp(
+      float(v_ego),
+      [NEAR_DUPLICATE_LEAD_SOURCE_MIN_SPEED, 35.0],
+      [NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MIN, NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MAX],
+    ))
+    if prev_source == "lead0":
+      return 0.0, hysteresis
+    return hysteresis, 0.0
+
   def set_accel_limits(self, min_a, max_a):
     # TODO this sets a max accel limit, but the minimum limit is only for cruise decel
     # needs refactor
@@ -590,12 +634,12 @@ class LongitudinalMpc:
     self.max_a = max_a
 
   def update(self, radarstate, v_cruise, x, v, a, j, danger_factor, t_follow,
-             personality=log.LongitudinalPersonality.standard, tracking_lead=True):
+             personality=log.LongitudinalPersonality.standard, tracking_lead=True,
+             optional_far_lead_comfort=True):
     v_ego = self.x0[1]
     lead_one = radarstate.leadOne
     lead_two = radarstate.leadTwo
     self.status = tracking_lead and (lead_one.status or lead_two.status)
-
     lead_xv_0 = self.process_lead(lead_one, tracking_lead, t_follow=t_follow)
     lead_xv_1 = self.process_lead(lead_two, tracking_lead, t_follow=t_follow)
 
@@ -622,14 +666,19 @@ class LongitudinalMpc:
                                  v_upper)
       cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
       prev_source = self.source
-      if prev_source == 'lead0':
-        cruise_obstacle += self.get_radarless_matched_follow_cruise_hysteresis(lead_one, v_ego, t_follow)
-      elif prev_source == 'lead1':
-        cruise_obstacle += self.get_radarless_matched_follow_cruise_hysteresis(lead_two, v_ego, t_follow)
-      if tracking_lead and lead_one.status:
+      if optional_far_lead_comfort:
+        if prev_source == 'lead0':
+          cruise_obstacle += self.get_radarless_matched_follow_cruise_hysteresis(lead_one, v_ego, t_follow)
+        elif prev_source == 'lead1':
+          cruise_obstacle += self.get_radarless_matched_follow_cruise_hysteresis(lead_two, v_ego, t_follow)
+      if optional_far_lead_comfort and tracking_lead and lead_one.status:
         desired_gap = desired_follow_distance(v_ego, lead_one.vLead, t_follow)
         closing_speed = max(0.0, v_ego - lead_one.vLead)
         cruise_obstacle += get_tracked_lead_catchup_bias(v_ego, lead_one.dRel, desired_gap, closing_speed, v_cruise=v_cruise)
+      if optional_far_lead_comfort:
+        lead_0_bias, lead_1_bias = self.get_near_duplicate_lead_source_hysteresis(prev_source, lead_one, lead_two, v_ego)
+        lead_0_obstacle = lead_0_obstacle + lead_0_bias
+        lead_1_obstacle = lead_1_obstacle + lead_1_bias
       x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
       self.source = SOURCES[np.argmin(x_obstacles[0])]