Merge pull request #470 from commaai/devel

0.5.7 release
hotfix: wait longer in CDP mode before switching to fast charge, so EON can boot (#469 )
2026-08-27 11:13:43 +08:00 · 2018-12-17 20:36:42 -07:00 · 2018-12-16 19:54:29 -07:00 · 2018-12-13 20:49:44 +01:00 · 2018-12-10 14:13:12 -08:00 · 2018-12-10 14:06:10 -08:00
132 changed files with 6778 additions and 1545 deletions
@@ -3,9 +3,26 @@
 Welcome to openpilot
 ======

-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

-The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+
+Table of Contents
+=======================
+
+* [Community](#community)
+* [Hardware](#hardware)
+* [Supported Cars](#supported-cars)
+* [Community Maintained Cars](#community-maintained-cars)
+* [In Progress Cars](#in-progress-cars)
+* [How can I add support for my car?](#how-can-i-add-support-for-my-car-)
+* [Directory structure](#directory-structure)
+* [User Data / chffr Account / Crash Reporting](#user-data-chffr-account-crash-reporting)
+* [Testing on PC](#testing-on-pc)
+* [Contributing](#contributing)
+* [Licensing](#licensing)
+
+---

 Community
 ------
@@ -18,7 +35,7 @@ Also, we have a several thousand people community on [slack](https://slack.comma

 <table>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=9TDi0BHgXyo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
@@ -34,80 +51,69 @@ Also, we have a several thousand people community on [slack](https://slack.comma
 Hardware
 ------

-Right now openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). We'd like to support other platforms as well.
+At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.

 Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.

 Supported Cars
 ------

-| Make                 | Model                 | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
-| ---------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
-| Acura                | ILX 2016              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
-| Acura                | ILX 2017              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
-| Acura                | RDX 2018              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Chevrolet<sup>3</sup>| Volt 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
-| Chevrolet<sup>3</sup>| Volt 2018             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
-| Honda                | Accord 2018           | All                  | Yes     | Stock          | 0mph             | 3mph           |
-| Honda                | Civic 2016            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda                | Civic 2017            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda                | Civic 2017 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda                | Civic 2018            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda                | Civic 2018 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda                | CR-V 2015             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda                | CR-V 2016             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda                | CR-V 2017             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda                | CR-V 2018             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda                | Odyssey 2017          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda                | Odyssey 2018          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda                | Odyssey 2019          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda                | Pilot 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda                | Pilot 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda                | Pilot 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda                | Ridgeline 2017        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda                | Ridgeline 2018        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Hyundai<sup>6</sup>  | Santa Fe 2019         | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Hyundai<sup>6</sup>  | Elantra 2017          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          |
-| Hyundai<sup>6</sup>  | Genesis 2018          | All                  | Yes     | Stock          | 19mph            | 34mph          |
-| Kia<sup>6</sup>      | Sorento 2018          | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Kia<sup>6</sup>      | Stinger 2018          | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           |
-| Lexus                | RX Hybrid 2017        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Lexus                | RX Hybrid 2018        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota               | Camry 2018<sup>4</sup>| All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
-| Toyota               | C-HR 2018<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Toyota               | Corolla 2017          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota               | Corolla 2018          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota               | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota               | Highlander Hybrid 2018| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota               | Prius 2016            | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota               | Prius 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota               | Prius 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota               | Prius Prime 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota               | Prius Prime 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota               | Rav4 2016             | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota               | Rav4 2017             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota               | Rav4 2018             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota               | Rav4 Hybrid 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota               | Rav4 Hybrid 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
+| Honda                | Civic Hatchback 2017-18  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | CR-V 2017-18             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Ridgeline 2017-18        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Hyundai              | Elantra 2017             | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Lexus                | RX Hybrid 2016-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2017-18            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius Prime 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |

 <sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
 <sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
-<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)  
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).  
 <sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).  
 <sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.  
-<sup>6</sup>Giraffe is under development: architecture similar to Toyota giraffe, with an extra 120Ohm resistor on bus 3.
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais.  
+<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/).  

 Community Maintained Cars
 ------

-| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
-| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
-| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Tesla         | Model S 2012              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |
-| Tesla         | Model S 2013              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |
+| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- | ------------------|
+| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Tesla         | Model S 2012              | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
+| Tesla         | Model S 2013              | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|

-[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
-[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)
+[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
+[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
+<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />

 Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

@@ -116,6 +122,7 @@ In Progress Cars
 - All TSS-P Toyota with Steering Assist.
  - 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
  - Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
+  - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
 - All LSS-P Lexus with Steering Assist or Lane Keep Assist.
  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
  - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
@@ -131,7 +138,7 @@ We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car

 - BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
 - We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
- The 2016-2017 Honda Accord use a custom signaling protocol for steering that's unlikely to ever be upstreamed.
+- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.

 Directory structure
 ------
@@ -166,7 +173,7 @@ To understand how the services interact, see `selfdrive/service_list.yaml`
 User Data / chffr Account / Crash Reporting
 ------

-By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
+By default, openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.

 It's open source software, so you are free to disable it if you wish.

@@ -190,6 +197,7 @@ The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudina

 More extensive testing infrastructure and simulation environments are coming soon.

+
 Contributing
 ------

@@ -208,3 +216,7 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
+
+---
+
+<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
@@ -1,3 +1,24 @@
+Version 0.5.7 (2018-12-06)
+========================
+ * Speed limit from OpenStreetMap added to UI
+ * Highlight speed limit when speed exceeds road speed limit plus a delta
+ * Option to limit openpilot max speed to road speed limit plus a delta
+ * Cadillac ATS support thanks to vntarasov!
+ * GMC Acadia support thanks to CryptoKylan!
+ * Decrease GPU power consumption
+ * NEOSv8 autoupdate
+
+Version 0.5.6 (2018-11-16)
+========================
+ * Refresh settings layout and add feature descriptions
+ * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
+ * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
+ * Improve camera calibration stability
+ * More tuning to Honda positive accelerations
+ * Reduce brake pump use on Hondas
+ * Chevrolet Malibu support thanks to tylergets!
+ * Holden Astra support thanks to AlexHill!
+
 Version 0.5.5 (2018-10-20)
 ========================
 * Increase allowed Honda positive accelerations
@@ -6,13 +6,16 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
 JS := gen/js/car.capnp.js gen/js/log.capnp.js

 UNAME_M ?= $(shell uname -m)
-
 # only generate C++ for docker tests
 ifneq ($(OPTEST),1)
 	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h

 	ifeq ($(UNAME_M),x86_64)
-		GENS += gen/java/Car.java gen/java/Log.java
+		ifneq (, $(shell which capnpc-java))
+			GENS += gen/java/Car.java gen/java/Log.java
+    else
+      $(warning capnpc-java not found, skipping java build)
+		endif
 	endif

 endif
@@ -71,6 +71,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    belowSteerSpeed @46;
    calibrationProgress @47;
    lowBattery @48;
+    invalidGiraffeHonda @49;
  }
 }

@@ -260,13 +261,13 @@ struct CarControl {
      # these are the choices from the Honda
      # map as good as you can for your car
      none @0;
-      beepSingle @1;
-      beepTriple @2;
-      beepRepeated @3;
-      chimeSingle @4;
-      chimeDouble @5;
-      chimeRepeated @6;
-      chimeContinuous @7;
+      chimeEngage @1;
+      chimeDisengage @2;
+      chimeError @3;
+      chimeWarning1 @4;
+      chimeWarning2 @5;
+      chimeWarningRepeat @6;
+      chimePrompt @7;
    }
  }
 }
@@ -354,6 +355,7 @@ struct CarParams {
  radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN

  steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
+  openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?

  enum SteerControlType {
    torque @0;
@@ -276,7 +276,8 @@ struct ThermalData {
  startedTs @13 :UInt64;

  thermalStatus @14 :ThermalStatus;
-  chargerDisabled @17 :Bool;
+  chargingError @17 :Bool;
+  chargingDisabled @18 :Bool;

  enum ThermalStatus {
    green @0;   # all processes run
@@ -344,6 +345,7 @@ struct LiveCalibrationData {
  warpMatrix @0 :List(Float32);
  # camera_frame_from_model_frame
  warpMatrix2 @5 :List(Float32);
+  warpMatrixBig @6 :List(Float32);
  calStatus @1 :Int8;
  calCycle @2 :Int32;
  calPerc @3 :Int8;
@@ -411,6 +413,7 @@ struct Live100Data {
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
  alertType @44 :Text;
+  alertSound @45 :Text;
  awarenessStatus @26 :Float32;
  angleOffset @27 :Float32;
  gpsPlannerActive @40 :Bool;
@@ -561,6 +564,10 @@ struct Plan {

  gpsPlannerActive @19 :Bool;

+  # maps
+  vCurvature @21 :Float32;
+  decelForTurn @22 :Bool;
+
  struct GpsTrajectory {
    x @0 :List(Float32);
    y @1 :List(Float32);
@@ -1565,6 +1572,20 @@ struct LiveParametersData {
  angleOffset @2 :Float32;
 }

+struct LiveMapData {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  curvatureValid @2 :Bool;
+  curvature @3 :Float32;
+  wayId @4 :UInt64;
+  roadX @5 :List(Float32);
+  roadY @6 :List(Float32);
+  lastGps @7: GpsLocationData;
+  roadCurvatureX @8 :List(Float32);
+  roadCurvature @9 :List(Float32);
+  distToTurn @10 :Float32;
+}
+

 struct Event {
  # in nanoseconds?
@@ -1632,5 +1653,6 @@ struct Event {
    driverMonitoring @59 :DriverMonitoring;
    boot @60 :Boot;
    liveParameters @61 :LiveParametersData;
+    liveMapData @62 :LiveMapData;
  }
 }
@@ -63,6 +63,7 @@ keys = {
  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
  "IsGeofenceEnabled": TxType.PERSISTENT,
+  "SpeedLimitOffset": TxType.PERSISTENT,
 # written: visiond
 # read:    visiond, controlsd
  "CalibrationParams": TxType.PERSISTENT,
@@ -74,6 +75,8 @@ keys = {
  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
  "IsUpdateAvailable": TxType.PERSISTENT,
+  "LongitudinalControl": TxType.PERSISTENT,
+  "LimitSetSpeed": TxType.PERSISTENT,

  "RecordFront": TxType.PERSISTENT,
 }
@@ -83,7 +83,7 @@ def get_model_height_transform(camera_frame_from_road_frame, height):

 # camera_frame_from_model_frame aka 'warp matrix'
 # was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
  vp = vp_from_ke(camera_frame_from_road_frame)

  model_camera_from_model_frame = np.array([
@@ -293,7 +293,7 @@ CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
 CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -288,6 +288,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
 VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
 VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -259,3 +259,5 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
@@ -64,7 +64,7 @@ CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
 CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -59,6 +59,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
 VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
 VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -129,7 +129,7 @@ CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
 CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
@@ -64,7 +64,7 @@ BO_ 891 WIPERS: 8 XXX

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -87,7 +87,7 @@ BO_ 884 STALK_STATUS: 8 XXX
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -0,0 +1,44 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+ VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
+ VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -100,7 +100,7 @@ CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -110,7 +110,5 @@ VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -58,7 +58,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -53,7 +53,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -40,6 +40,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -57,11 +62,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -102,23 +114,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -149,6 +148,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -160,32 +162,95 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
@@ -0,0 +1,39 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_3: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -67,8 +67,37 @@ BO_ 776 ASCMAccSpeedStatus: 7 NEO
 SG_ VehicleSpeed : 15|12@0+ (1,0) [0|0] ""  B233B_LRR
 SG_ AlwaysOne : 3|1@0+ (1,0) [0|0] ""  B233B_LRR

-BO_ 1120 LRRNumObjects: 8 B233B_LRR
- SG_ LRRNumObjects : 20|5@0+ (1,0) [0|0] ""  NEO
+BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO
+ SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] ""  EOCM_F_FO
+ SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
+ SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
+ SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] ""  EOCM_F_FO

 BO_ 1134 LRRObject14: 8 B233B_LRR
 SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
@@ -35,13 +35,18 @@ BS_:

 BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB
 VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
+VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
 VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
 VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
 VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
@@ -81,9 +86,13 @@ BO_ 298 BCMDoorBeltStatus: 8 K9_BCM

 BO_ 309 ECMPRDNL: 8 K20_ECM
 SG_ PRNDL : 2|3@0+ (1,0) [0|0] ""  NEO
+ SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX

 BO_ 320 BCMTurnSignals: 3 K9_BCM
 SG_ TurnSignals : 19|2@0+ (1,0) [0|0] ""  NEO
+ SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX

 BO_ 328 PSCM_148: 1 K43_PSCM

@@ -118,6 +127,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
 SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
+ SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX

 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
 SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
@@ -170,6 +180,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
 SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
 SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX

 BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
 SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
@@ -224,8 +235,10 @@ BA_ "UseGMParameterIDs" 0;
 VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
 VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
@@ -237,4 +250,7 @@ VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Ina
 VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
 VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
 VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
+VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
+VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;

@@ -264,6 +264,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 CM_ "honda_accord_lx15t_2018_can.dbc starts here"


@@ -264,6 +264,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 CM_ "honda_accord_s2t_2018_can.dbc starts here"


@@ -264,6 +264,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"


@@ -358,7 +358,7 @@ CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
 CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
@@ -264,6 +264,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 CM_ "honda_crv_ex_2017_can.dbc starts here"


@@ -293,7 +293,7 @@ BO_ 891 WIPERS: 8 XXX

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -316,7 +316,7 @@ BO_ 884 STALK_STATUS: 8 XXX
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -0,0 +1,311 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.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_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ "honda_insight_ex_2019_can.dbc starts here"
+
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+ VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
+ VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -329,7 +329,7 @@ CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -339,7 +339,5 @@ VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -287,7 +287,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -282,7 +282,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -0,0 +1,298 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.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 DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "is the displayed speed 10,30,50,60,70,80,90,100,120 and 255 is for no limit. SPDVAL2 is the secondary speed usually written smaller";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_2018_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_3: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -0,0 +1,203 @@
+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 DSU HCU EPS IPAS
+
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.0062,0) [0|115] "mph" XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 295 GEAR_PACKET: 8 XXX
+ SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 8 XXX
+ SG_ BRAKE_LIGHTS : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 8 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 452 POWERTRAIN: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+
+
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 560 BRAKE_LIGHTS "double check";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, nut it's always 1 in drive traces";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B" ;
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled" ;
+VAL_ 610 LKA_STATE 50 "temporary_fault" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled" ;
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left" ;
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted" ;
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none" ;
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ;
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none" ;
+VAL_ 1553 UNITS 1 "km" 2 "miles" ;
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -72,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -89,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -134,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 1556 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
- SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
- SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
- SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
-
-BO_ 467 PCM_CRUISE_2: 8 XXX
- SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -181,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
-VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

@@ -1 +1 @@
-v1.1.6
+v1.1.8
@@ -589,6 +589,8 @@ int main() {
    uint64_t marker = 0;
    #define CURRENT_THRESHOLD 0xF00
    #define CLICKS 8
+    // Enough clicks to ensure that enumeration happened. Should be longer than bootup time of the device connected to EON
+    #define CLICKS_BOOTUP 30
  #endif

  for (cnt=0;;cnt++) {
@@ -615,8 +617,8 @@ int main() {
          }
          break;
        case USB_POWER_CDP:
-          // been CLICKS clicks since we switched to CDP
-          if ((cnt-marker) >= CLICKS) {
+          // been CLICKS_BOOTUP clicks since we switched to CDP
+          if ((cnt-marker) >= CLICKS_BOOTUP ) {
            // measure current draw, if positive and no enumeration, switch to DCP
            if (!is_enumerated && current < CURRENT_THRESHOLD) {
              puts("USBP: no enumeration with current draw, switching to DCP mode\n");
@@ -62,6 +62,7 @@ int controls_allowed = 0;
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
 #include "safety/safety_hyundai.h"
+#include "safety/safety_chrysler.h"
 #include "safety/safety_elm327.h"

 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -102,6 +103,7 @@ typedef struct {
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
 #define SAFETY_TESLA 8
+#define SAFETY_CHRYSLER 9
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -116,6 +118,7 @@ const safety_hook_config safety_hook_registry[] = {
  {SAFETY_FORD, &ford_hooks},
  {SAFETY_CADILLAC, &cadillac_hooks},
  {SAFETY_HYUNDAI, &hyundai_hooks},
+  {SAFETY_CHRYSLER, &chrysler_hooks},
  {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
  {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
@@ -0,0 +1,136 @@
+// board enforces
+//   in-state
+//      ACC is active (green)
+//   out-state
+//      brake pressed
+//      stock LKAS ECU is online
+//      ACC is not active (white or disabled)
+
+// chrysler_: namespacing
+int chrysler_speed = 0;
+
+// silence everything if stock ECUs are still online
+int chrysler_lkas_detected = 0;
+int chrysler_desired_torque_last = 0;
+
+static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  int bus_number = (to_push->RDTR >> 4) & 0xFF;
+  uint32_t addr;
+  if (to_push->RIR & 4) {
+    // Extended
+    // Not looked at, but have to be separated
+    // to avoid address collision
+    addr = to_push->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_push->RIR >> 21;
+  }
+
+  if (addr == 0x144 && bus_number == 0) {
+    chrysler_speed = ((to_push->RDLR & 0xFF000000) >> 16) | (to_push->RDHR & 0xFF);
+  }
+
+  // check if stock LKAS ECU is still online
+  if (addr == 0x292 && bus_number == 0) {
+    chrysler_lkas_detected = 1;
+    controls_allowed = 0;
+  }
+
+  // ["ACC_2"]['ACC_STATUS_2'] == 7 for active (green) Adaptive Cruise Control
+  if (addr == 0x1f4 && bus_number == 0) {
+    if (((to_push->RDLR & 0x380000) >> 19) == 7) {
+      controls_allowed = 1;
+    } else {
+      controls_allowed = 0;
+    }
+  }
+
+  // exit controls on brake press by human
+  if (addr == 0x140) {
+    if (to_push->RDLR & 0x4) {
+      controls_allowed = 0;
+    }
+  }
+}
+
+// if controls_allowed
+//     allow steering up to limit
+// else
+//     block all commands that produce actuation
+static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  // There can be only one! (LKAS)
+  if (chrysler_lkas_detected) {
+    return 0;
+  }
+
+  uint32_t addr;
+  if (to_send->RIR & 4) {
+    // Extended
+    addr = to_send->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_send->RIR >> 21;
+  }
+
+  // LKA STEER: Too large of values cause the steering actuator ECU to silently
+  // fault and no longer actuate the wheel until the car is rebooted.
+  if (addr == 0x292) {
+    int rdlr = to_send->RDLR;
+    int straight = 1024;
+    int steer = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - straight;
+    int max_steer = 230;
+    int max_rate = 50; // ECU is fine with 100, but 3 is typical.
+    if (steer > max_steer) {
+      return false;
+    }
+    if (steer < -max_steer) {
+      return false;
+    }
+    if (!controls_allowed && steer != 0) {
+      // If controls not allowed, only allow steering to move closer to 0.
+      if (chrysler_desired_torque_last == 0) {
+	return false;
+      }
+      if ((chrysler_desired_torque_last > 0) && (steer >= chrysler_desired_torque_last)) {
+	return false;
+      }
+      if ((chrysler_desired_torque_last < 0) && (steer <= chrysler_desired_torque_last)) {
+	return false;
+      }
+    }
+    if (steer < (chrysler_desired_torque_last - max_rate)) {
+      return false;
+    }
+    if (steer > (chrysler_desired_torque_last + max_rate)) {
+      return false;
+    }
+    
+    chrysler_desired_torque_last = steer;
+  }
+
+  // 1 allows the message through
+  return true;
+}
+
+static int chrysler_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+  // LIN is not used.
+  return false;
+}
+
+static void chrysler_init(int16_t param) {
+  controls_allowed = 0;
+}
+
+static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return -1;
+}
+
+const safety_hooks chrysler_hooks = {
+  .init = chrysler_init,
+  .rx = chrysler_rx_hook,
+  .tx = chrysler_tx_hook,
+  .tx_lin = chrysler_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = chrysler_fwd_hook,
+};
+
@@ -138,15 +138,6 @@ static void honda_init(int16_t param) {
  honda_alt_brake_msg = false;
 }

-const safety_hooks honda_hooks = {
-  .init = honda_init,
-  .rx = honda_rx_hook,
-  .tx = honda_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
-  .fwd = nooutput_fwd_hook,
-};
-
 static void honda_bosch_init(int16_t param) {
  controls_allowed = 0;
  bosch_hardware = true;
@@ -154,6 +145,22 @@ static void honda_bosch_init(int16_t param) {
  honda_alt_brake_msg = param == 1 ? true : false;
 }

+static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  // fwd from car to camera. also fwd certain msgs from camera to car
+  // 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
+  // 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
+  // 0x39f is radar hud
+  int addr = to_fwd->RIR>>21;
+  if (bus_num == 0) {
+    return 2;
+  } else if (bus_num == 2 && addr != 0xE4 && addr != 0x194 && addr != 0x1FA &&
+             addr != 0x30C && addr != 0x33D && addr != 0x39F) {
+    return 0;
+  }
+
+  return -1;
+}
+
 static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  if (bus_num == 1 || bus_num == 2) {
    int addr = to_fwd->RIR>>21;
@@ -162,6 +169,15 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  return -1;
 }

+const safety_hooks honda_hooks = {
+  .init = honda_init,
+  .rx = honda_rx_hook,
+  .tx = honda_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = honda_fwd_hook,
+};
+
 const safety_hooks honda_bosch_hooks = {
  .init = honda_bosch_init,
  .rx = honda_rx_hook,
@@ -1,5 +1,5 @@
-int toyota_no_dsu_car = 0;                // ch-r and camry don't have the DSU
 int toyota_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
+int toyota_camera_forwarded = 0;          // should we forward the camera bus?

 // global torque limit
 const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
@@ -49,8 +49,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  // enter controls on rising edge of ACC, exit controls on ACC off
  if ((to_push->RIR>>21) == 0x1D2) {
-    // 4 bits: 55-52
-    int cruise_engaged = to_push->RDHR & 0xF00000;
+    // 5th bit is CRUISE_ACTIVE
+    int cruise_engaged = to_push->RDLR & 0x20;
    if (cruise_engaged && !toyota_cruise_engaged_last) {
      controls_allowed = 1;
    } else if (!cruise_engaged) {
@@ -60,16 +60,15 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  }

  int bus = (to_push->RDTR >> 4) & 0xF;
-  // 0x680 is a radar msg only found in dsu-less cars
-  if ((to_push->RIR>>21) == 0x680 && (bus == 1)) {
-    toyota_no_dsu_car = 1;
+  // msgs are only on bus 2 if panda is connected to frc
+  if (bus == 2) {
+    toyota_camera_forwarded = 1;
  }

  // 0x2E4 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high
  if ((to_push->RIR>>21) == 0x2E4 && (bus == 0)) {
    toyota_giraffe_switch_1 = 1;
  }
-
 }

 static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -150,13 +149,15 @@ static void toyota_init(int16_t param) {
  controls_allowed = 0;
  toyota_actuation_limits = 1;
  toyota_giraffe_switch_1 = 0;
+  toyota_camera_forwarded = 0;
  toyota_dbc_eps_torque_factor = param;
 }

 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {

-  // forward cam to radar and viceversa if car is dsu-less, except lkas cmd and hud
-  if ((bus_num == 0 || bus_num == 2) && toyota_no_dsu_car && !toyota_giraffe_switch_1) {
+  // forward cam to radar and viceversa if car, except lkas cmd and hud
+  // don't forward when switch 1 is high
+  if ((bus_num == 0 || bus_num == 2) && toyota_camera_forwarded && !toyota_giraffe_switch_1) {
    int addr = to_fwd->RIR>>21;
    bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412) && bus_num == 2;
    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
@@ -177,6 +178,7 @@ static void toyota_nolimits_init(int16_t param) {
  controls_allowed = 0;
  toyota_actuation_limits = 0;
  toyota_giraffe_switch_1 = 0;
+  toyota_camera_forwarded = 0;
  toyota_dbc_eps_torque_factor = param;
 }

@@ -105,7 +105,14 @@ class Panda(object):
  SAFETY_NOOUTPUT = 0
  SAFETY_HONDA = 1
  SAFETY_TOYOTA = 2
+  SAFETY_GM = 3
  SAFETY_HONDA_BOSCH = 4
+  SAFETY_FORD = 5
+  SAFETY_CADILLAC = 6
+  SAFETY_HYUNDAI = 7
+  SAFETY_TESLA = 8
+  SAFETY_CHRYSLER = 9
+  SAFETY_TOYOTA_IPAS = 0x1335
  SAFETY_TOYOTA_NOLIMITS = 0x1336
  SAFETY_ALLOUTPUT = 0x1337
  SAFETY_ELM327 = 0xE327
@@ -81,6 +81,12 @@ void set_hyundai_rt_torque_last(int t);
 void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);

+void init_tests_chrysler(void);
+void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+void chrysler_init(int16_t param);
+void set_chrysler_desired_torque_last(int t);
+
 """)

 libpandasafety = ffi.dlopen(libpandasafety_fn)
@@ -121,6 +121,10 @@ void set_hyundai_desired_torque_last(int t){
  hyundai_desired_torque_last = t;
 }

+void set_chrysler_desired_torque_last(int t){
+  chrysler_desired_torque_last = t;
+}
+
 int get_ego_speed(void){
  return ego_speed;
 }
@@ -184,6 +188,10 @@ void init_tests_honda(void){
  gas_prev = 0;
 }

+void init_tests_chrysler(void){
+  chrysler_desired_torque_last = 0;
+  set_timer(0);
+}

 void set_gmlan_digital_output(int to_set){
 }
@@ -0,0 +1,88 @@
+#!/usr/bin/env python2
+import unittest
+import numpy as np
+import libpandasafety_py
+
+
+class TestChryslerSafety(unittest.TestCase):
+  @classmethod
+  def setUp(cls):
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.chrysler_init(0)
+    cls.safety.init_tests_chrysler()
+
+  def _acc_msg(self, active):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x1f4 << 21
+    to_send[0].RDLR = 0xfe3fff1f if active else 0xfe0fff1f
+    return to_send
+    
+
+  def _brake_msg(self, brake):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x140 << 21
+    to_send[0].RDLR = 0x485 if brake else 0x480
+    return to_send
+
+  def _steer_msg(self, angle):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x292 << 21
+    c_angle = (1024 + angle)
+    to_send[0].RDLR = 0x10 | ((c_angle & 0xf00) >> 8) | ((c_angle & 0xff) << 8)
+    return to_send
+
+  def test_default_controls_not_allowed(self):
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_acc_enables_controls(self):
+    self.safety.set_controls_allowed(0)
+    self.safety.chrysler_rx_hook(self._acc_msg(0))
+    self.assertFalse(self.safety.get_controls_allowed())
+    self.safety.chrysler_rx_hook(self._acc_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.chrysler_rx_hook(self._acc_msg(0))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_disengage_on_brake(self):
+    self.safety.set_controls_allowed(1)
+    self.safety.chrysler_rx_hook(self._brake_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.chrysler_rx_hook(self._brake_msg(1))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_steer_calculation(self):
+    self.assertEqual(0x14, self._steer_msg(0)[0].RDLR)  # straight, no steering
+
+  def test_steer_tx(self):
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
+    self.safety.set_chrysler_desired_torque_last(227)
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(230)))
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(231)))
+    self.safety.set_chrysler_desired_torque_last(-227)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(-231)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(-230)))
+    # verify max change
+    self.safety.set_chrysler_desired_torque_last(0)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(230)))
+    
+    self.safety.set_controls_allowed(0)
+    self.safety.set_chrysler_desired_torque_last(0)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(3)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
+    # verify when controls not allowed we can still go back towards 0
+    self.safety.set_chrysler_desired_torque_last(10)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(10)))
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(11)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(7)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(4)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
+    self.safety.set_chrysler_desired_torque_last(-10)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(-10)))
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(-11)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(-7)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(-4)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
+
+if __name__ == "__main__":
+  unittest.main()
@@ -129,7 +129,7 @@ class TestToyotaSafety(unittest.TestCase):
  def test_enable_control_allowed_from_cruise(self):
    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
    to_push[0].RIR = 0x1D2 << 21
-    to_push[0].RDHR = 0xF00000
+    to_push[0].RDLR = 0x20

    self.safety.toyota_rx_hook(to_push)
    self.assertTrue(self.safety.get_controls_allowed())
@@ -137,7 +137,7 @@ class TestToyotaSafety(unittest.TestCase):
  def test_disable_control_allowed_from_cruise(self):
    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
    to_push[0].RIR = 0x1D2 << 21
-    to_push[0].RDHR = 0
+    to_push[0].RDLR = 0

    self.safety.set_controls_allowed(1)
    self.safety.toyota_rx_hook(to_push)
@@ -373,7 +373,7 @@ class TestToyotaSafety(unittest.TestCase):
        self.assertTrue(self.safety.get_controls_allowed())

        # now inject too high rates
-        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) * 
+        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) *
                                                                                  (max_delta_up + 1), 1)))
        self.assertFalse(self.safety.get_controls_allowed())
        self.safety.set_controls_allowed(1)
@@ -381,7 +381,7 @@ class TestToyotaSafety(unittest.TestCase):
        self.assertTrue(self.safety.get_controls_allowed())
        self.assertEqual(True, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a, 1)))
        self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a - sign(a) * 
+        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a - sign(a) *
                                                                                  (max_delta_down + 1), 1)))
        self.assertFalse(self.safety.get_controls_allowed())

@@ -0,0 +1 @@
+libopenblas_armv8p-r0.2.19.so
@@ -0,0 +1,22 @@
+__all__ = [
+    "__author__",
+    "__copyright__",
+    "__email__",
+    "__license__",
+    "__summary__",
+    "__title__",
+    "__uri__",
+    "__version__",
+]
+
+__title__ = "overpy"
+__summary__ = "Python Wrapper to access the OpenStreepMap Overpass API"
+__uri__ = "https://github.com/DinoTools/python-overpy"
+
+__version__ = "0.4"
+
+__author__ = "PhiBo (DinoTools)"
+__email__ = ""
+
+__license__ = "MIT"
+__copyright__ = "Copyright 2014-2016 %s" % __author__
@@ -0,0 +1,166 @@
+class OverPyException(BaseException):
+    """OverPy base exception"""
+    pass
+
+
+class DataIncomplete(OverPyException):
+    """
+    Raised if the requested data isn't available in the result.
+    Try to improve the query or to resolve the missing data.
+    """
+    def __init__(self, *args, **kwargs):
+        OverPyException.__init__(
+            self,
+            "Data incomplete try to improve the query to resolve the missing data",
+            *args,
+            **kwargs
+        )
+
+
+class ElementDataWrongType(OverPyException):
+    """
+    Raised if the provided element does not match the expected type.
+
+    :param type_expected: The expected element type
+    :type type_expected: String
+    :param type_provided: The provided element type
+    :type type_provided: String|None
+    """
+    def __init__(self, type_expected, type_provided=None):
+        self.type_expected = type_expected
+        self.type_provided = type_provided
+
+    def __str__(self):
+        return "Type expected '%s' but '%s' provided" % (
+            self.type_expected,
+            str(self.type_provided)
+        )
+
+
+class MaxRetriesReached(OverPyException):
+    """
+    Raised if max retries reached and the Overpass server didn't respond with a result.
+    """
+    def __init__(self, retry_count, exceptions):
+        self.exceptions = exceptions
+        self.retry_count = retry_count
+
+    def __str__(self):
+        return "Unable get any result from the Overpass API server after %d retries." % self.retry_count
+
+
+class OverpassBadRequest(OverPyException):
+    """
+    Raised if the Overpass API service returns a syntax error.
+
+    :param query: The encoded query how it was send to the server
+    :type query: Bytes
+    :param msgs: List of error messages
+    :type msgs: List
+    """
+    def __init__(self, query, msgs=None):
+        self.query = query
+        if msgs is None:
+            msgs = []
+        self.msgs = msgs
+
+    def __str__(self):
+        tmp_msgs = []
+        for tmp_msg in self.msgs:
+            if not isinstance(tmp_msg, str):
+                tmp_msg = str(tmp_msg)
+            tmp_msgs.append(tmp_msg)
+
+        return "\n".join(tmp_msgs)
+
+
+class OverpassError(OverPyException):
+    """
+    Base exception to report errors if the response returns a remark tag or element.
+    
+    .. note::
+        If you are not sure which of the subexceptions you should use, use this one and try to parse the message.
+
+        For more information have a look at https://github.com/DinoTools/python-overpy/issues/62
+    
+    :param str msg: The message from the remark tag or element
+    """
+    def __init__(self, msg=None):
+        #: The message from the remark tag or element
+        self.msg = msg
+
+    def __str__(self):
+        if self.msg is None:
+            return "No error message provided"
+        if not isinstance(self.msg, str):
+            return str(self.msg)
+        return self.msg
+
+
+class OverpassGatewayTimeout(OverPyException):
+    """
+    Raised if load of the Overpass API service is too high and it can't handle the request.
+    """
+    def __init__(self):
+        OverPyException.__init__(self, "Server load too high")
+
+
+class OverpassRuntimeError(OverpassError):
+    """
+    Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with
+    'runtime error:'.
+    """
+    pass
+
+
+class OverpassRuntimeRemark(OverpassError):
+    """
+    Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with
+    'runtime remark:'.
+    """
+    pass
+
+
+class OverpassTooManyRequests(OverPyException):
+    """
+    Raised if the Overpass API service returns a 429 status code.
+    """
+    def __init__(self):
+        OverPyException.__init__(self, "Too many requests")
+
+
+class OverpassUnknownContentType(OverPyException):
+    """
+    Raised if the reported content type isn't handled by OverPy.
+
+    :param content_type: The reported content type
+    :type content_type: None or String
+    """
+    def __init__(self, content_type):
+        self.content_type = content_type
+
+    def __str__(self):
+        if self.content_type is None:
+            return "No content type returned"
+        return "Unknown content type: %s" % self.content_type
+
+
+class OverpassUnknownError(OverpassError):
+    """
+    Raised if the server returns a remark-tag(xml) or remark element(json) and we are unable to find any reason.
+    """
+    pass
+
+
+class OverpassUnknownHTTPStatusCode(OverPyException):
+    """
+    Raised if the returned HTTP status code isn't handled by OverPy.
+
+    :param code: The HTTP status code
+    :type code: Integer
+    """
+    def __init__(self, code):
+        self.code = code
+
+    def __str__(self):
+        return "Unknown/Unhandled status code: %d" % self.code
@@ -0,0 +1,64 @@
+__author__ = 'mjob'
+
+import overpy
+
+
+def get_street(street, areacode, api=None):
+    """
+    Retrieve streets in a given bounding area
+
+    :param overpy.Overpass api: First street of intersection
+    :param String street: Name of street
+    :param String areacode: The OSM id of the bounding area
+    :return: Parsed result
+    :raises overpy.exception.OverPyException: If something bad happens.
+    """
+    if api is None:
+        api = overpy.Overpass()
+
+    query = """
+        area(%s)->.location;
+        (
+            way[highway][name="%s"](area.location);
+            - (
+                way[highway=service](area.location);
+                way[highway=track](area.location);
+            );
+        );
+        out body;
+        >;
+        out skel qt;
+    """
+
+    data = api.query(query % (areacode, street))
+
+    return data
+
+
+def get_intersection(street1, street2, areacode, api=None):
+    """
+    Retrieve intersection of two streets in a given bounding area
+
+    :param overpy.Overpass api: First street of intersection
+    :param String street1: Name of first street of intersection
+    :param String street2: Name of second street of intersection
+    :param String areacode: The OSM id of the bounding area
+    :return: List of intersections
+    :raises overpy.exception.OverPyException: If something bad happens.
+    """
+    if api is None:
+        api = overpy.Overpass()
+
+    query = """
+        area(%s)->.location;
+        (
+            way[highway][name="%s"](area.location); node(w)->.n1;
+            way[highway][name="%s"](area.location); node(w)->.n2;
+        );
+        node.n1.n2;
+        out meta;
+    """
+
+    data = api.query(query % (areacode, street1, street2))
+
+    return data.get_nodes()
@@ -5,7 +5,7 @@ libusb1==1.5.0
 pycapnp==0.6.3
 pyzmq==15.4.0
 raven==5.23.0
-requests==2.10.0
+requests==2.20.0
 setproctitle==1.1.10
 simplejson==3.8.2
 pyyaml==3.12
@@ -16,4 +16,5 @@ filterpy==1.2.4
 smbus2==0.2.0
 pyflakes==1.6.0
 -e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
+-e git+https://github.com/commaai/python-overpy.git@f86529af402d4642e1faeb146671c40284007323#egg=overpy
 Flask==1.0.2
@@ -40,8 +40,11 @@
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
+#define SAFETY_TESLA 8
+#define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
+#define SAFETY_ELM327 0xE327

 namespace {

@@ -1,4 +1,8 @@
 #!/usr/bin/env python
+
+# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and
+# delete this python version of boardd
+
 import os
 import struct
 import zmq
@@ -16,8 +20,6 @@ try:
 except Exception:
  pass

-# TODO: rewrite in C to save CPU
-
 SAFETY_NOOUTPUT = 0
 SAFETY_HONDA = 1
 SAFETY_TOYOTA = 2
@@ -69,9 +71,10 @@ def __parse_can_buffer(dat):
 def can_send_many(arr):
  snds = []
  for addr, _, dat, alt in arr:
-    snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
-    snd = snd.ljust(0x10, '\x00')
-    snds.append(snd)
+    if addr < 0x800:  # only support 11 bit addr
+      snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat
+      snd = snd.ljust(0x10, '\x00')
+      snds.append(snd)
  while 1:
    try:
      handle.bulkWrite(3, ''.join(snds))
@@ -119,6 +119,7 @@ class CarInterface(object):
    ret.brakeMaxV = [1., 0.8]

    ret.enableCamera = not any(x for x in [970, 973, 984] if x in fingerprint)
+    ret.openpilotLongitudinalControl = False
    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)

    ret.steerLimitAlert = False
@@ -10,7 +10,7 @@ from selfdrive.can.packer import CANPacker

 class CarControllerParams():
  def __init__(self, car_fingerprint):
-    if car_fingerprint == CAR.VOLT:
+    if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
      self.STEER_MAX = 300
      self.STEER_STEP = 2              # how often we update the steer cmd
      self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
@@ -104,7 +104,7 @@ class CarController(object):
      self.apply_steer_last = apply_steer
      idx = (frame / P.STEER_STEP) % 4

-      if self.car_fingerprint == CAR.VOLT:
+      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
        can_sends.append(gmcan.create_steering_control(self.packer_pt,
          canbus.powertrain, apply_steer, idx, lkas_enabled))
      if self.car_fingerprint == CAR.CADILLAC_CT6:
@@ -113,7 +113,7 @@ class CarController(object):

    ### GAS/BRAKE ###

-    if self.car_fingerprint == CAR.VOLT:
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
      # no output if not enabled, but keep sending keepalive messages
      # treat pedals as one
      final_pedal = actuators.gas - actuators.brake
@@ -34,12 +34,15 @@ def get_powertrain_can_parser(CP, canbus):
  if CP.carFingerprint == CAR.VOLT:
    signals += [
      ("RegenPaddle", "EBCMRegenPaddle", 0),
+    ]
+  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
+    signals += [
      ("TractionControlOn", "ESPStatus", 0),
      ("EPBClosed", "EPBStatus", 0),
      ("CruiseMainOn", "ECMEngineStatus", 0),
      ("CruiseState", "AcceleratorPedal2", 0),
    ]
-  elif CP.carFingerprint == CAR.CADILLAC_CT6:
+  if CP.carFingerprint == CAR.CADILLAC_CT6:
    signals += [
      ("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
    ]
@@ -117,14 +120,17 @@ class CarState(object):
    self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
    self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2

-    if self.car_fingerprint == CAR.VOLT:
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
      self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
      self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
      self.acc_active = False
      self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
-      self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
      self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
-    else: 
+      if self.car_fingerprint == CAR.VOLT:
+        self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
+      else:
+        self.regen_pressed = False
+    if self.car_fingerprint == CAR.CADILLAC_CT6:
      self.park_brake = False
      self.main_on = False
      self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']
@@ -141,4 +147,3 @@ class CarState(object):
    self.brake_pressed = self.user_brake > 10 or self.regen_pressed

    self.gear_shifter_valid = self.gear_shifter == car.CarState.GearShifter.drive
-
@@ -4,7 +4,7 @@ from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS
+from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser

 try:
@@ -12,15 +12,6 @@ try:
 except ImportError:
  CarController = None

-# Car chimes, beeps, blinker sounds etc
-class CM:
-  TOCK = 0x81
-  TICK = 0x82
-  LOW_BEEP = 0x84
-  HIGH_BEEP = 0x85
-  LOW_CHIME = 0x86
-  HIGH_CHIME = 0x87
-
 class CanBus(object):
  def __init__(self):
    self.powertrain = 0
@@ -71,13 +62,14 @@ class CarInterface(object):
    # Have to go passive if ASCM is online (ACC-enabled cars),
    # or camera is on powertrain bus (LKA cars without ACC).
    ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
+    ret.openpilotLongitudinalControl = ret.enableCamera

    std_cargo = 136

    if candidate == CAR.VOLT:
      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-      # kg of standard extra cargo to count for drive, gas, etc...
+      # kg of standard extra cargo to count for driver, gas, etc...
      ret.mass = 1607 + std_cargo
      ret.safetyModel = car.CarParams.SafetyModels.gm
      ret.wheelbase = 2.69
@@ -85,10 +77,49 @@ class CarInterface(object):
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.4 # wild guess

+    elif candidate == CAR.MALIBU:
+      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.mass = 1496 + std_cargo
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.wheelbase = 2.83
+      ret.steerRatio = 15.8
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.4 # wild guess
+
+    elif candidate == CAR.HOLDEN_ASTRA:
+      # kg of standard extra cargo to count for driver, gas, etc...
+      ret.mass = 1363 + std_cargo
+      ret.wheelbase = 2.662
+      # Remaining parameters copied from Volt for now
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.steerRatio = 15.7
+      ret.steerRatioRear = 0.
+
+    elif candidate == CAR.ACADIA:
+      ret.minEnableSpeed = -1 # engage speed is decided by pcm
+      ret.mass = 4353. * CV.LB_TO_KG + std_cargo
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.wheelbase = 2.86
+      ret.steerRatio = 14.4  #end to end is 13.46
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.4
+
+    elif candidate == CAR.CADILLAC_ATS:
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.mass = 1601 + std_cargo
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.wheelbase = 2.78
+      ret.steerRatio = 15.3
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.49
+
    elif candidate == CAR.CADILLAC_CT6:
      # engage speed is decided by pcm
      ret.minEnableSpeed = -1
-      # kg of standard extra cargo to count for drive, gas, etc...
+      # kg of standard extra cargo to count for driver, gas, etc...
      ret.mass = 4016. * CV.LB_TO_KG + std_cargo
      ret.safetyModel = car.CarParams.SafetyModels.cadillac
      ret.wheelbase = 3.11
@@ -254,8 +285,7 @@ class CarInterface(object):
    if ret.seatbeltUnlatched:
      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

-    if self.CS.car_fingerprint == CAR.VOLT:
-
+    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
      if self.CS.brake_error:
        events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
      if not self.CS.gear_shifter_valid:
@@ -312,15 +342,7 @@ class CarInterface(object):
    if hud_v_cruise > 70:
      hud_v_cruise = 0

-    chime, chime_count = {
-      "none": (0, 0),
-      "beepSingle": (CM.HIGH_CHIME, 1),
-      "beepTriple": (CM.HIGH_CHIME, 3),
-      "beepRepeated": (CM.LOW_CHIME, -1),
-      "chimeSingle": (CM.LOW_CHIME, 1),
-      "chimeDouble": (CM.LOW_CHIME, 2),
-      "chimeRepeated": (CM.LOW_CHIME, -1),
-      "chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)]
+    chime, chime_count = AUDIO_HUD[c.hudControl.audibleAlert.raw]

    # For Openpilot, "enabled" includes pre-enable.
    # In GM, PCM faults out if ACC command overlaps user gas.
@@ -11,26 +11,30 @@ from common.realtime import sec_since_boot
 from selfdrive.services import service_list
 import selfdrive.messaging as messaging

-NUM_TARGETS_MSG = 1120
-SLOT_1_MSG = NUM_TARGETS_MSG + 1
+RADAR_HEADER_MSG = 1120
+SLOT_1_MSG = RADAR_HEADER_MSG + 1
 NUM_SLOTS = 20

 # Actually it's 0x47f, but can parser only reports
 # messages that are present in DBC
-LAST_RADAR_MSG = NUM_TARGETS_MSG + NUM_SLOTS
+LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS

 def create_radard_can_parser(canbus, car_fingerprint):

  dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint == CAR.VOLT:
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
    # C1A-ARS3-A by Continental
    radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
-    signals = zip(['LRRNumObjects'] +
+    signals = zip(['FLRRNumValidTargets',
+                   'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
+                   'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
+                   'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
                  ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
                  ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
                  ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
-                  [NUM_TARGETS_MSG] + radar_targets * 6,
-                  [0] + [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                  [RADAR_HEADER_MSG] * 7 + radar_targets * 6,
+                  [0] * 7 +
+                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
                  [0.0] * NUM_SLOTS + [0] * NUM_SLOTS)

@@ -44,8 +48,6 @@ class RadarInterface(object):
  def __init__(self, CP):
    # radar
    self.pts = {}
-    self.track_id = 0
-    self.num_targets = 0

    self.delay = 0.0  # Delay of radar

@@ -70,22 +72,27 @@ class RadarInterface(object):
      if LAST_RADAR_MSG in updated_messages:
        break

+    header = self.rcp.vl[RADAR_HEADER_MSG]
+    fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
+      header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
+      header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
    errors = []
    if not self.rcp.can_valid:
-      errors.append("notValid")
+      errors.append("commIssue")
+    if fault:
+      errors.append("fault")
    ret.errors = errors

    currentTargets = set()
-    if self.rcp.vl[NUM_TARGETS_MSG]['LRRNumObjects'] != self.num_targets:
-      self.num_targets = self.rcp.vl[NUM_TARGETS_MSG]['LRRNumObjects']
+    num_targets = header['FLRRNumValidTargets']

    # Not all radar messages describe targets,
-    # no need to monitor all of the sself.rcp.msgs_upd
+    # no need to monitor all of the self.rcp.msgs_upd
    for ii in updated_messages:
-      if ii == NUM_TARGETS_MSG:
+      if ii == RADAR_HEADER_MSG:
        continue

-      if self.num_targets == 0:
+      if num_targets == 0:
        break

      cpt = self.rcp.vl[ii]
@@ -118,5 +125,3 @@ if __name__ == "__main__":
    ret = RI.update()
    print(chr(27) + "[2J")
    print ret
-
-
@@ -1,9 +1,15 @@
 from cereal import car
 from selfdrive.car import dbc_dict

+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
 class CAR:
+  HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
  VOLT = "CHEVROLET VOLT PREMIER 2017"
+  CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
  CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
+  MALIBU = "CHEVROLET MALIBU PREMIER 2017"
+  ACADIA = "GMC ACADIA DENALI 2018"

 class CruiseButtons:
  UNPRESS     = 1
@@ -12,9 +18,28 @@ class CruiseButtons:
  MAIN        = 5
  CANCEL      = 6

+# Car chimes, beeps, blinker sounds etc
+class CM:
+  TOCK = 0x81
+  TICK = 0x82
+  LOW_BEEP = 0x84
+  HIGH_BEEP = 0x85
+  LOW_CHIME = 0x86
+  HIGH_CHIME = 0x87
+
+AUDIO_HUD = {
+  AudibleAlert.none: (0, 0),
+  AudibleAlert.chimeEngage: (CM.HIGH_CHIME, 1),
+  AudibleAlert.chimeDisengage: (CM.HIGH_CHIME, 1),
+  AudibleAlert.chimeError: (CM.LOW_CHIME, 2),
+  AudibleAlert.chimePrompt: (CM.LOW_CHIME, 1),
+  AudibleAlert.chimeWarning1: (CM.LOW_CHIME, 2),
+  AudibleAlert.chimeWarning2: (CM.LOW_CHIME, -1),
+  AudibleAlert.chimeWarningRepeat: (CM.LOW_CHIME, -1)}
+
 def is_eps_status_ok(eps_status, car_fingerprint):
  valid_eps_status = []
-  if car_fingerprint == CAR.VOLT:
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
    valid_eps_status += [0, 1]
  elif car_fingerprint == CAR.CADILLAC_CT6:
    valid_eps_status += [0, 1, 4, 5, 6]
@@ -33,6 +58,10 @@ def parse_gear_shifter(can_gear):
    return car.CarState.GearShifter.unknown

 FINGERPRINTS = {
+  # Astra BK MY17, ASCM unplugged
+  CAR.HOLDEN_ASTRA: [{
+    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
+  }],
  CAR.VOLT: [
  # Volt Premier w/ ACC 2017
  {
@@ -42,19 +71,42 @@ FINGERPRINTS = {
  {
    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
  }],
+  CAR.CADILLAC_ATS: [
+  # Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
  CAR.CADILLAC_CT6: [{
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
  }],
+  CAR.MALIBU: [
+  # Malibu Premier w/ ACC 2017
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
+  }],
+  CAR.ACADIA: [
+  # Acadia Denali w/ /ACC 2018
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
 }

 STEER_THRESHOLD = 1.0

 STOCK_CONTROL_MSGS = {
+  CAR.HOLDEN_ASTRA: [384, 715],
  CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
-  CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
+  CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.ACADIA: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.CADILLAC_ATS: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.CADILLAC_CT6: [], # CT6 does not require ASCMs to be disconnected
 }

 DBC = {
+  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
 }
@@ -1,5 +1,5 @@
-from cereal import car
 from collections import namedtuple
+from common.realtime import sec_since_boot
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.controls.lib.drive_helpers import rate_limit
 from common.numpy_fast import clip
@@ -8,7 +8,7 @@ from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker

 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
-  # hyst params... TODO: move these to VehicleParams
+  # hyst params
  brake_hyst_on = 0.02     # to activate brakes exceed this value
  brake_hyst_off = 0.005                     # to deactivate brakes below this value
  brake_hyst_gap = 0.01                      # don't change brake command for small ocilalitons within this value
@@ -33,6 +33,24 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
  return brake, braking, brake_steady


+def brake_pump_hysteresys(apply_brake, apply_brake_last, last_pump_ts):
+  ts = sec_since_boot()
+  pump_on = False
+
+  # reset pump timer if:
+  # - there is an increment in brake request
+  # - we are applying steady state brakes and we haven't been running the pump
+  #   for more than 20s (to prevent pressure bleeding)
+  if apply_brake > apply_brake_last or (ts - last_pump_ts > 20 and apply_brake > 0):
+    last_pump_ts = ts
+
+  # once the pump is on, run it for at least 0.2s
+  if ts - last_pump_ts < 0.2 and apply_brake > 0:
+    pump_on = True
+
+  return pump_on, last_pump_ts
+
+
 def process_hud_alert(hud_alert):
  # initialize to no alert
  fcw_display = 0
@@ -60,6 +78,8 @@ class CarController(object):
    self.braking = False
    self.brake_steady = 0.
    self.brake_last = 0.
+    self.apply_brake_last = 0
+    self.last_pump_ts = 0
    self.enable_camera = enable_camera
    self.packer = CANPacker(dbc_name)
    self.new_radar_config = False
@@ -109,9 +129,6 @@ class CarController(object):
    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
                  0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)

-    if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
-      hud = HUDData(0xc6, 255, 64, 0xc0, 209, 0x40, 0, 0, 0, 0)
-
    # **** process the car messages ****

    # *** compute control surfaces ***
@@ -128,7 +145,6 @@ class CarController(object):
    apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
    apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))

-    # any other cp.vl[0x18F]['STEER_STATUS'] is common and can happen during user override. sending 0 torque to avoid EPS sending error 5
    lkas_active = enabled and not CS.steer_not_allowed

    # Send CAN commands.
@@ -136,7 +152,8 @@ class CarController(object):

    # Send steering command.
    idx = frame % 4
-    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, lkas_active, CS.CP.carFingerprint, idx))
+    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
+      lkas_active, CS.CP.carFingerprint, idx))

    # Send dashboard UI commands.
    if (frame % 10) == 0:
@@ -149,28 +166,19 @@ class CarController(object):
        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx))
      elif CS.stopped:
        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
+
    else:
      # Send gas and brake commands.
      if (frame % 2) == 0:
        idx = (frame / 2) % 4
-        can_sends.append(
-          hondacan.create_brake_command(self.packer, apply_brake, pcm_override,
-                                      pcm_cancel_cmd, hud.chime, hud.fcw, idx))
+        pump_on, self.last_pump_ts = brake_pump_hysteresys(apply_brake, self.apply_brake_last, self.last_pump_ts)
+        can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
+          pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx))
+        self.apply_brake_last = apply_brake
+
        if CS.CP.enableGasInterceptor:
          # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
          # This prevents unexpected pedal range rescaling
          can_sends.append(hondacan.create_gas_command(self.packer, apply_gas, idx))

-      # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
-      if CS.CP.carFingerprint == CAR.ACURA_ILX:
-        radar_send_step = 2
-      else:
-        radar_send_step = 5
-
-      if (frame % radar_send_step) == 0:
-        idx = (frame/radar_send_step) % 4
-        if not self.new_radar_config:  # only change state once
-          self.new_radar_config = car.RadarState.Error.wrongConfig in radar_error
-        can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, self.new_radar_config, idx))
-
    sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
@@ -2,7 +2,7 @@ from common.numpy_fast import interp
 from common.kalman.simple_kalman import KF1D
 from selfdrive.can.parser import CANParser, CANDefine
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH

 def parse_gear_shifter(gear, vals):

@@ -40,8 +40,6 @@ def get_can_signals(CP):
      ("LEFT_BLINKER", "SCM_FEEDBACK", 0),
      ("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
      ("GEAR", "GEARBOX", 0),
-      ("BRAKE_ERROR_1", "STANDSTILL", 1),
-      ("BRAKE_ERROR_2", "STANDSTILL", 1),
      ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
      ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
      ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
@@ -63,7 +61,6 @@ def get_can_signals(CP):
      ("STEERING_SENSORS", 100),
      ("SCM_FEEDBACK", 10),
      ("GEARBOX", 100),
-      ("STANDSTILL", 50),
      ("SEATBELT_STATUS", 10),
      ("CRUISE", 10),
      ("POWERTRAIN_DATA", 100),
@@ -84,9 +81,12 @@ def get_can_signals(CP):
    checks += [("GAS_PEDAL_2", 100)]
  else:
    # Nidec signals.
-    signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
+    signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
+                ("BRAKE_ERROR_2", "STANDSTILL", 1),
+                ("CRUISE_SPEED_PCM", "CRUISE", 0),
                ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
-    checks += [("CRUISE_PARAMS", 50)]
+    checks += [("CRUISE_PARAMS", 50),
+               ("STANDSTILL", 50)]

  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
    signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
@@ -129,6 +129,17 @@ def get_can_parser(CP):
  signals, checks = get_can_signals(CP)
  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)

+def get_cam_can_parser(CP):
+  signals = []
+
+  # all hondas except CRV and RDX use 0xe4 for steering
+  checks = [(0xe4, 100)]
+  if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX]:
+    checks = [(0x194, 100)]
+
+  cam_bus = 1 if CP.carFingerprint in HONDA_BOSCH else 2
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, cam_bus)

 class CarState(object):
  def __init__(self, CP):
@@ -160,10 +171,11 @@ class CarState(object):
                         K=[[0.12287673], [0.29666309]])
    self.v_ego = 0.0

-  def update(self, cp):
+  def update(self, cp, cp_cam):

-    # copy can_valid
+    # copy can_valid on buses 0 and 2
    self.can_valid = cp.can_valid
+    self.cam_can_valid = cp_cam.can_valid

    # car params
    v_weight_v = [0., 1.]  # don't trust smooth speed at low values to avoid premature zero snapping
@@ -193,7 +205,10 @@ class CarState(object):
    self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
    self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
    self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3]   # 3 is low speed lockout, not worth a warning
-    self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
+    if self.CP.radarOffCan:
+      self.brake_error = 0
+    else:
+      self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
    self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']

    # calc best v_ego estimate, by averaging two opposite corners
@@ -1,8 +1,6 @@
 import struct
-
-import common.numpy_fast as np
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, HONDA_BOSCH, VEHICLE_STATE_MSG
+from selfdrive.car.honda.values import CAR, HONDA_BOSCH

 # *** Honda specific ***
 def can_cksum(mm):
@@ -21,16 +19,8 @@ def fix(msg, addr):
  return msg2


-def make_can_msg(addr, dat, idx, alt):
-  if idx is not None:
-    dat += chr(idx << 4)
-    dat = fix(dat, addr)
-  return [addr, 0, dat, alt]
-
-
-def create_brake_command(packer, apply_brake, pcm_override, pcm_cancel_cmd, chime, fcw, idx):
-  """Creates a CAN message for the Honda DBC BRAKE_COMMAND."""
-  pump_on = apply_brake > 0
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx):
+  # TODO: do we loose pressure if we keep pump off for long?
  brakelights = apply_brake > 0
  brake_rq = apply_brake > 0
  pcm_fault_cmd = False
@@ -45,13 +35,13 @@ def create_brake_command(packer, apply_brake, pcm_override, pcm_cancel_cmd, chim
    "SET_ME_0X80": 0x80,
    "BRAKE_LIGHTS": brakelights,
    "CHIME": chime,
-    "FCW": fcw << 1,  # TODO: Why are there two bits for fcw? According to dbc file the first bit should also work
+    # TODO: Why are there two bits for fcw? According to dbc file the first bit should also work
+    "FCW": fcw << 1,
  }
  return packer.make_can_msg("BRAKE_COMMAND", 0, values, idx)


 def create_gas_command(packer, gas_amount, idx):
-  """Creates a CAN message for the Honda DBC GAS_COMMAND."""
  enable = gas_amount > 0.001

  values = {"ENABLE": enable}
@@ -64,7 +54,6 @@ def create_gas_command(packer, gas_amount, idx):


 def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx):
-  """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
  values = {
    "STEER_TORQUE": apply_steer if lkas_active else 0,
    "STEER_TORQUE_REQUEST": lkas_active,
@@ -75,7 +64,6 @@ def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, i


 def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
-  """Creates an iterable of CAN messages for the UIs."""
  commands = []
  bus = 0

@@ -105,7 +93,6 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
  commands.append(packer.make_can_msg('LKAS_HUD', bus, lkas_hud_values, idx))

  if car_fingerprint in (CAR.CIVIC, CAR.ODYSSEY):
-    commands.append(packer.make_can_msg('HIGHBEAM_CONTROL', 0, {'HIGHBEAMS_ON': False}, idx))

    radar_hud_values = {
      'ACC_ALERTS': hud.acc_alert,
@@ -117,26 +104,6 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
  return commands


-def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
-  """Creates an iterable of CAN messages for the radar system."""
-  commands = []
-  v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
-  speed = struct.pack('!B', v_ego_kph)
-
-  msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +
-               ("\x20" if idx == 0 or idx == 3 else "\x00") +
-               "\x00\x00")
-  msg_0x301 = VEHICLE_STATE_MSG[car_fingerprint]
-
-  idx_0x300 = idx
-  if car_fingerprint == CAR.CIVIC:
-    idx_offset = 0xc if new_radar_config else 0x8   # radar in civic 2018 requires 0xc
-    idx_0x300 += idx_offset
-
-  commands.append(make_can_msg(0x300, msg_0x300, idx_0x300, 1))
-  commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
-  return commands
-
 def spam_buttons_command(packer, button_val, idx):
  values = {
    'CRUISE_BUTTONS': button_val,
@@ -8,8 +8,9 @@ from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.honda.carstate import CarState, get_can_parser
-from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH, CAR, HONDA_BOSCH
+from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
+from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD
+from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING

 try:
  from selfdrive.car.honda.carcontroller import CarController
@@ -21,6 +22,8 @@ except ImportError:
 # those messages are mutually exclusive on CRV and non-CRV cars
 CAMERA_MSGS = [0xe4, 0x194]

+A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
+

 def compute_gb_honda(accel, speed):
  creep_brake = 0.0
@@ -86,8 +89,10 @@ class CarInterface(object):
    self.gas_pressed_prev = False
    self.brake_pressed_prev = False
    self.can_invalid_count = 0
+    self.cam_can_invalid_count = 0

    self.cp = get_can_parser(CP)
+    self.cp_cam = get_cam_can_parser(CP)

    # *** init the major players ***
    self.CS = CarState(CP)
@@ -105,6 +110,12 @@ class CarInterface(object):

  @staticmethod
  def calc_accel_override(a_ego, a_target, v_ego, v_target):
+
+    # normalized max accel. Allowing max accel at low speed causes speed overshoots
+    max_accel_bp = [10, 20]    # m/s
+    max_accel_v = [0.714, 1.0] # unit of max accel
+    max_accel = interp(v_ego, max_accel_bp, max_accel_v)
+
    # limit the pcm accel cmd if:
    # - v_ego exceeds v_target, or
    # - a_ego exceeds a_target and v_ego is close to v_target
@@ -127,7 +138,7 @@ class CarInterface(object):
    # accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
    # unless aTargetMax is very high and then we scale with it; this help in quicker restart

-    return float(min(speedLimiter, accelLimiter))
+    return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)

  @staticmethod
  def get_params(candidate, fingerprint):
@@ -140,10 +151,13 @@ class CarInterface(object):
      ret.safetyModel = car.CarParams.SafetyModels.hondaBosch
      ret.enableCamera = True
      ret.radarOffCan = True
+      ret.openpilotLongitudinalControl = False
    else:
      ret.safetyModel = car.CarParams.SafetyModels.honda
      ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
      ret.enableGasInterceptor = 0x201 in fingerprint
+      ret.openpilotLongitudinalControl = ret.enableCamera
+
    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
    cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)

@@ -369,8 +383,9 @@ class CarInterface(object):
    canMonoTimes = []

    self.cp.update(int(sec_since_boot() * 1e9), False)
+    self.cp_cam.update(int(sec_since_boot() * 1e9), False)

-    self.CS.update(self.cp)
+    self.CS.update(self.cp, self.cp_cam)

    # create message
    ret = car.CarState.new_message()
@@ -473,8 +488,8 @@ class CarInterface(object):
    ret.buttonEvents = buttonEvents

    # events
-    # TODO: I don't like the way capnp does enums
-    # These strings aren't checked at compile time
+    # TODO: event names aren't checked at compile time.
+    # Maybe there is a way to use capnp enums directly
    events = []
    if not self.CS.can_valid:
      self.can_invalid_count += 1
@@ -482,6 +497,15 @@ class CarInterface(object):
        events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
    else:
      self.can_invalid_count = 0
+
+    if not self.CS.cam_can_valid and self.CP.enableCamera:
+      self.cam_can_invalid_count += 1
+      # wait 1.0s before throwing the alert to avoid it popping when you turn off the car
+      if self.cam_can_invalid_count >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH:
+        events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
+    else:
+      self.cam_can_invalid_count = 0
+
    if self.CS.steer_error:
      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
    elif self.CS.steer_warning:
@@ -573,24 +597,8 @@ class CarInterface(object):
    else:
      hud_v_cruise = 255

-    hud_alert = {
-      "none": AH.NONE,
-      "fcw": AH.FCW,
-      "steerRequired": AH.STEER,
-      "brakePressed": AH.BRAKE_PRESSED,
-      "wrongGear": AH.GEAR_NOT_D,
-      "seatbeltUnbuckled": AH.SEATBELT,
-      "speedTooHigh": AH.SPEED_TOO_HIGH}[str(c.hudControl.visualAlert)]
-
-    snd_beep, snd_chime = {
-      "none": (BP.MUTE, CM.MUTE),
-      "beepSingle": (BP.SINGLE, CM.MUTE),
-      "beepTriple": (BP.TRIPLE, CM.MUTE),
-      "beepRepeated": (BP.REPEATED, CM.MUTE),
-      "chimeSingle": (BP.MUTE, CM.SINGLE),
-      "chimeDouble": (BP.MUTE, CM.DOUBLE),
-      "chimeRepeated": (BP.MUTE, CM.REPEATED),
-      "chimeContinuous": (BP.MUTE, CM.CONTINUOUS)}[str(c.hudControl.audibleAlert)]
+    hud_alert = VISUAL_HUD[c.hudControl.visualAlert.raw]
+    snd_beep, snd_chime = AUDIO_HUD[c.hudControl.audibleAlert.raw]

    pcm_accel = int(clip(c.cruiseControl.accelOverride,0,1)*0xc6)

@@ -1,5 +1,9 @@
+from cereal import car
 from selfdrive.car import dbc_dict

+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
 # Car button codes
 class CruiseButtons:
  RES_ACCEL   = 4
@@ -15,13 +19,23 @@ class CM:
  REPEATED = 1
  CONTINUOUS = 2

-#car beepss: enumeration from dbc file. Beeps are for activ and deactiv
+#car beeps: enumeration from dbc file. Beeps are for engage and disengage
 class BP:
  MUTE = 0
  SINGLE = 3
  TRIPLE = 2
  REPEATED = 1

+AUDIO_HUD = {
+  AudibleAlert.none: (BP.MUTE, CM.MUTE),
+  AudibleAlert.chimeEngage: (BP.SINGLE, CM.MUTE),
+  AudibleAlert.chimeDisengage: (BP.SINGLE, CM.MUTE),
+  AudibleAlert.chimeError: (BP.MUTE, CM.DOUBLE),
+  AudibleAlert.chimePrompt: (BP.MUTE, CM.SINGLE),
+  AudibleAlert.chimeWarning1: (BP.MUTE, CM.DOUBLE),
+  AudibleAlert.chimeWarning2: (BP.MUTE, CM.REPEATED),
+  AudibleAlert.chimeWarningRepeat: (BP.MUTE, CM.REPEATED)}
+
 class AH:
  #[alert_idx, value]
  # See dbc files for info on values"
@@ -33,6 +47,15 @@ class AH:
  SEATBELT       = [5, 5]
  SPEED_TOO_HIGH = [6, 8]

+VISUAL_HUD = {
+  VisualAlert.none: AH.NONE,
+  VisualAlert.fcw: AH.FCW,
+  VisualAlert.steerRequired: AH.STEER,
+  VisualAlert.brakePressed: AH.BRAKE_PRESSED,
+  VisualAlert.wrongGear: AH.GEAR_NOT_D,
+  VisualAlert.seatbeltUnbuckled: AH.SEATBELT,
+  VisualAlert.speedTooHigh: AH.SPEED_TOO_HIGH}
+
 class CAR:
  ACCORD = "HONDA ACCORD 2018 SPORT 2T"
  ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
@@ -146,18 +169,5 @@ SPEED_FACTOR = {
  CAR.RIDGELINE: 1.,
 }

-# This message sends car info to the radar that is specific to the model. You
-# can determine this message by monitoring the OEM system.
-VEHICLE_STATE_MSG = {
-  CAR.ACURA_ILX: "\x0f\x18\x51\x02\x5a\x00\x00",
-  CAR.ACURA_RDX: "\x0f\x57\x4f\x02\x5a\x00\x00",
-  CAR.CIVIC: "\x02\x38\x44\x32\x4f\x00\x00",
-  CAR.CRV: "\x00\x00\x50\x02\x51\x00\x00",
-  CAR.ODYSSEY: "\x00\x00\x56\x02\x55\x00\x00",
-  CAR.PILOT: "\x00\x00\x56\x02\x58\x00\x00",
-  CAR.PILOT_2019: "\x00\x00\x58\x02\x5c\x00\x00",
-  CAR.RIDGELINE: "\x00\x00\x56\x02\x57\x00\x00",
-}
-
 # TODO: get these from dbc file
 HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]
@@ -163,6 +163,7 @@ class CarInterface(object):
    ret.longPidDeadzoneV = [0.]

    ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
+    ret.openpilotLongitudinalControl = False

    ret.steerLimitAlert = False
    ret.stoppingControl = False
@@ -1,8 +1,12 @@
+from cereal import car
 from selfdrive.car import dbc_dict

-def get_hud_alerts(visual_alert, audble_alert):
-  if visual_alert == "steerRequired":
-    return 4 if audble_alert != "none" else 5
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+def get_hud_alerts(visual_alert, audible_alert):
+  if visual_alert == VisualAlert.steerRequired:
+    return 4 if audible_alert != AudibleAlert.none else 5
  else:
    return 0

@@ -27,7 +31,7 @@ FINGERPRINTS = {
    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
  }],
  CAR.GENESIS: [{
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
  }],
  CAR.KIA_SORENTO: [{
    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
@@ -47,6 +47,7 @@ class CarInterface(object):
    ret.carFingerprint = candidate

    ret.safetyModel = car.CarParams.SafetyModels.noOutput
+    ret.openpilotLongitudinalControl = False

    # FIXME: hardcoding honda civic 2016 touring params so they can be used to
    # scale unknown params for other cars
@@ -1,12 +1,16 @@
+from cereal import car
 from common.numpy_fast import clip, interp
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                           create_steer_command, create_ui_command, \
                                           create_ipas_steer_command, create_accel_command, \
                                           create_fcw_command
-from selfdrive.car.toyota.values import ECU, STATIC_MSGS, NO_DSU_CAR
+from selfdrive.car.toyota.values import ECU, STATIC_MSGS
 from selfdrive.can.packer import CANPacker

+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
 # Accel limits
 ACCEL_HYST_GAP = 0.02  # don't change accel command for small oscilalitons within this value
 ACCEL_MAX = 1.5  # 1.5 m/s2
@@ -54,14 +58,14 @@ def process_hud_alert(hud_alert, audible_alert):
  sound1 = 0
  sound2 = 0

-  if hud_alert == 'fcw':
+  if hud_alert == VisualAlert.fcw:
    fcw = 1
-  elif hud_alert == 'steerRequired':
+  elif hud_alert == VisualAlert.steerRequired:
    steer = 1

-  if audible_alert == 'chimeRepeated':
+  if audible_alert == AudibleAlert.chimeWarningRepeat:
    sound1 = 1
-  elif audible_alert in ['beepSingle', 'chimeSingle', 'chimeDouble']:
+  elif audible_alert != AudibleAlert.none:
    # TODO: find a way to send single chimes
    sound2 = 1

@@ -108,6 +112,7 @@ class CarController(object):

    self.steer_angle_enabled = False
    self.ipas_reset_counter = 0
+    self.last_fault_frame = -200

    self.fake_ecus = set()
    if enable_camera: self.fake_ecus.add(ECU.CAM)
@@ -117,7 +122,7 @@ class CarController(object):
    self.packer = CANPacker(dbc_name)

  def update(self, sendcan, enabled, CS, frame, actuators,
-             pcm_cancel_cmd, hud_alert, audible_alert):
+             pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera):

    # *** compute control surfaces ***

@@ -143,7 +148,11 @@ class CarController(object):
    # dropping torque immediately might cause eps to temp fault. On the other hand, safety_toyota
    # cuts steer torque immediately anyway TODO: monitor if this is a real issue
    # only cut torque when steer state is a known fault
-    if not enabled or CS.steer_state in [9, 25]:
+    if CS.steer_state in [9, 25]:
+      self.last_fault_frame = frame
+
+    # Cut steering for 2s after fault
+    if not enabled or (frame - self.last_fault_frame < 200):
      apply_steer = 0
      apply_steer_req = 0
    else:
@@ -212,7 +221,7 @@ class CarController(object):
      else:
        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False))

-    if frame % 10 == 0 and ECU.CAM in self.fake_ecus and self.car_fingerprint not in NO_DSU_CAR:
+    if frame % 10 == 0 and ECU.CAM in self.fake_ecus and not forwarding_camera:
      for addr in TARGET_IDS:
        can_sends.append(create_video_target(frame/10, addr))

@@ -231,12 +240,14 @@ class CarController(object):

    if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
      can_sends.append(create_ui_command(self.packer, steer, sound1, sound2))
+
+    if frame % 100 == 0 and ECU.DSU in self.fake_ecus:
      can_sends.append(create_fcw_command(self.packer, fcw))

    #*** static msgs ***

    for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
-      if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars:
+      if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars and not (ecu == ECU.CAM and forwarding_camera):
        # special cases
        if fr_step == 5 and ecu == ECU.CAM and bus == 1:
          cnt = (((frame / 5) % 7) + 1) << 5
@@ -35,6 +35,7 @@ def get_can_parser(CP):
    ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
    ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
    ("GAS_RELEASED", "PCM_CRUISE", 0),
+    ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
    ("CRUISE_STATE", "PCM_CRUISE", 0),
    ("MAIN_ON", "PCM_CRUISE_2", 0),
    ("SET_SPEED", "PCM_CRUISE_2", 0),
@@ -65,6 +66,16 @@ def get_can_parser(CP):
  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)


+def get_cam_can_parser(CP):
+
+  signals = []
+
+  # use steering message to check if panda is connected to frc
+  checks = [("STEERING_LKA", 42)]
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+
+
 class CarState(object):
  def __init__(self, CP):

@@ -87,9 +98,10 @@ class CarState(object):
                         K=np.matrix([[0.12287673], [0.29666309]]))
    self.v_ego = 0.0

-  def update(self, cp):
+  def update(self, cp, cp_cam):
    # copy can_valid
    self.can_valid = cp.can_valid
+    self.cam_can_valid = cp_cam.can_valid

    # update prevs, update must run once per loop
    self.prev_left_blinker_on = self.left_blinker_on
@@ -142,6 +154,7 @@ class CarState(object):
    self.user_brake = 0
    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
    self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
@@ -4,7 +4,7 @@ from cereal import car, log
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.toyota.carstate import CarState, get_can_parser
+from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR
 from selfdrive.swaglog import cloudlog

@@ -23,12 +23,16 @@ class CarInterface(object):
    self.gas_pressed_prev = False
    self.brake_pressed_prev = False
    self.can_invalid_count = 0
+    self.cam_can_valid_count = 0
    self.cruise_enabled_prev = False

    # *** init the major players ***
    self.CS = CarState(CP)

    self.cp = get_can_parser(CP)
+    self.cp_cam = get_cam_can_parser(CP)
+
+    self.forwarding_camera = False

    # sending if read only is False
    if sendcan is not None:
@@ -182,6 +186,7 @@ class CarInterface(object):
    ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
    ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
    ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
+    ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
    cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
    cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
    cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
@@ -204,7 +209,11 @@ class CarInterface(object):

    self.cp.update(int(sec_since_boot() * 1e9), False)

-    self.CS.update(self.cp)
+    # run the cam can update for 10s as we just need to know if the camera is alive
+    if self.frame < 1000:
+      self.cp_cam.update(int(sec_since_boot() * 1e9), False)
+
+    self.CS.update(self.cp, self.cp_cam)

    # create message
    ret = car.CarState.new_message()
@@ -240,7 +249,7 @@ class CarInterface(object):
    ret.steeringPressed = self.CS.steer_override

    # cruise state
-    ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
+    ret.cruiseState.enabled = self.CS.pcm_acc_active
    ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
    ret.cruiseState.available = bool(self.CS.main_on)
    ret.cruiseState.speedOffset = 0.
@@ -281,6 +290,12 @@ class CarInterface(object):
        events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
    else:
      self.can_invalid_count = 0
+
+    if self.CS.cam_can_valid:
+      self.cam_can_valid_count += 1
+      if self.cam_can_valid_count >= 5:
+        self.forwarding_camera = True
+
    if not ret.gearShifter == 'drive' and self.CP.enableDsu:
      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
    if ret.doorOpen:
@@ -335,7 +350,7 @@ class CarInterface(object):

    self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
                   c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
-                   c.hudControl.audibleAlert)
+                   c.hudControl.audibleAlert, self.forwarding_camera)

    self.frame += 1
    return False
@@ -33,7 +33,7 @@ class RadarInterface(object):
  def __init__(self, CP):
    # radar
    self.pts = {}
-    self.seen_valid = {key: False for key in RADAR_A_MSGS}
+    self.valid_cnt = {key: 0 for key in RADAR_A_MSGS}
    self.track_id = 0

    self.delay = 0.0  # Delay of radar
@@ -57,8 +57,7 @@ class RadarInterface(object):
    while 1:
      tm = int(sec_since_boot() * 1e9)
      updated_messages.update(self.rcp.update(tm, True))
-      # TODO: do not hardcode last msg
-      if 0x22f in updated_messages:
+      if RADAR_B_MSGS[-1] in updated_messages:
        break

    errors = []
@@ -71,17 +70,18 @@ class RadarInterface(object):
      if ii in RADAR_A_MSGS:
        cpt = self.rcp.vl[ii]

-        if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
-          self.seen_valid[ii] = False    # reset validity
-
-        if cpt['LONG_DIST'] < 255 and cpt['VALID']:
-          self.seen_valid[ii] = True
+        if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
+          self.valid_cnt[ii] = 0    # reset counter
+        if cpt['VALID'] and cpt['LONG_DIST'] < 255:
+          self.valid_cnt[ii] += 1
+        else:
+          self.valid_cnt[ii] = max(self.valid_cnt[ii] -1, 0)

        score = self.rcp.vl[ii+16]['SCORE']
-        # print ii, score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
+        # print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']

        # radar point only valid if it's a valid measurement and score is above 50
-        if (cpt['VALID'] or score > 50) and cpt['LONG_DIST'] < 255 and self.seen_valid[ii]:
+        if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0):
          if ii not in self.pts or cpt['NEW_TRACK']:
            self.pts[ii] = car.RadarState.RadarPoint.new_message()
            self.pts[ii].trackId = self.track_id
@@ -65,7 +65,7 @@ def create_steer_command(packer, steer, steer_req, raw_cnt):


 def create_accel_command(packer, accel, pcm_cancel, standstill_req):
-  # TODO: find the exact canceling bit
+  # TODO: find the exact canceling bit that does not create a chime
  values = {
    "ACCEL_CMD": accel,
    "SET_ME_X63": 0x63,
@@ -52,8 +52,8 @@ STATIC_MSGS = [
  (0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
  (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x4d\x82\x40\x02\x00'),
  (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
-  (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,  100, '\x00\x00\x01\x79'),
+  (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
+  (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H), 1,  100, '\x00\x00\x01\x79'),
  (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),

  (0x292, ECU.APGS, (CAR.PRIUS), 0,   3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
@@ -83,6 +83,10 @@ FINGERPRINTS = {
  }],
  CAR.RAV4H: [{
    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  # Chinese RAV4
+  {
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 742: 8, 743: 8, 800: 8, 830: 7, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1207: 8, 1227: 8, 1235: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8
  }],
  CAR.PRIUS: [{
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
@@ -104,6 +108,10 @@ FINGERPRINTS = {
  }],
  CAR.LEXUS_RXH: [{
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
+  },
+    # RX450HL
+  {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  }],
  CAR.CHR: [{
    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
rbiasini	9ce3045f13	Merge pull request #470 from commaai/devel 0.5.7 release	2018-12-17 20:36:42 -07:00
rbiasini	067f1bfe9e	hotfix: wait longer in CDP mode before switching to fast charge, so EON can boot (#469 )	2018-12-16 19:54:29 -07:00
Riccardo	e3c934bcc1	0.5.7 hotfixes	2018-12-13 20:49:44 +01:00
Vehicle Researcher	210db686bb	openpilot v0.5.7 release	2018-12-10 14:13:12 -08:00
Vehicle Researcher	573a6915fc	Merge pyextra subtree	2018-12-10 14:06:10 -08:00
Vehicle Researcher	30ec405890	Squashed 'pyextra/' changes from fb152de..8cc1594 8cc1594 update overpy 2c18997 switch to forked version of overpy git-subtree-dir: pyextra git-subtree-split: 8cc1594238fcae6acb8bcd825ac73bbca586b1be	2018-12-10 14:06:10 -08:00
Vehicle Researcher	dc331df1fc	Merge opendbc subtree	2018-12-10 14:06:07 -08:00
Vehicle Researcher	0002cc7c3a	Squashed 'opendbc/' changes from 3f6cd74..e108b6b e108b6b Add more Sign recognitions (#126) 6e8a363 Add GM FCW Alert (Take 2) (#125) 368701a Revert "Add GM FCW dashboard alert (#123)" (#124) 98b5f66 Add GM FCW dashboard alert (#123) 71b7588 Adds dbc for 2019 Honda Insight (#122) git-subtree-dir: opendbc git-subtree-split: e108b6bbe5ddd33f8ae63a3d9002a494bc732c8f	2018-12-10 14:06:07 -08:00
chassdesk	5c4ae7a2fc	Add Lexus RX450HL as sub to RX450H (#458 ) Add Lexus RX450HL as sub to RX450H	2018-12-08 13:13:09 -08:00
Chris McCammon	29bea62ac1	Fixed Capitalization + Made CT6 Comment Cleaner (#456 ) * Update README.md * Updated CT6 comment	2018-12-07 17:32:41 -08:00
Vasily Tarasov	024870d16a	GM: Cadillac ATS Coupe 2018 support (#445 ) * GM: Cadillac ATS Coupe 2018 support * Missed adding Cadillac ATS	2018-12-06 21:22:21 -08:00
Kylan	68e56c8017	Adding support for 2018 GMC Acadia Denali (#453 ) * added acadia * adding acadia * adding acadia * Update radar_interface.py * adding acadia * refactored * fixed tuning * Adding acadia * Update interface.py * fixed whitespace * fixed whitespace	2018-12-04 08:35:36 -08:00
rbiasini	9398a28be2	Merge pull request #448 from commaai/devel 0.5.6 release	2018-11-29 20:56:55 -08:00
rbiasini	9d76070ab7	Honda Nidec: avoid giraffe setting alert when car is turned off (#449 )	2018-11-29 20:36:34 -08:00
rbiasini	6ec0d23b7a	Added Astra support to README and RELEASE notes (#443 )	2018-11-21 00:01:04 -08:00
Alex Hill	c9dd7fe0e6	Add initial support for Holden/Opel Astra BK (#431 )	2018-11-20 20:12:50 -08:00
Vasily Tarasov	e32463ee96	Keep steering on radar fault (#442 )	2018-11-19 20:25:33 -08:00
dekerr	53c6ca6589	Move calibration values (#441 ) * initial commit * moved constants	2018-11-18 17:18:29 -08:00
Vasily Tarasov	e4ed48928b	GM: remove refactor leftovers (#440 )	2018-11-18 16:13:44 -08:00
Abdul Hagi	b94d598c2d	Added 2016 Honda pilot (#438 ) I am able to validate that openpilot works on a 2016 Honda Pilot.	2018-11-17 09:34:48 -08:00
Vehicle Researcher	860a48765d	openpilot v0.5.6 release	2018-11-17 02:08:34 -08:00
Vehicle Researcher	efa97f23a5	Squashed 'pyextra/' changes from eb09257..fb152de fb152de add overpy git-subtree-dir: pyextra git-subtree-split: fb152de1e9e54247d933400be1dbf580f4dd0f43	2018-11-17 01:58:38 -08:00
Vehicle Researcher	92c596544d	Merge pyextra subtree	2018-11-17 01:58:38 -08:00
Vehicle Researcher	2f0b0fb15e	Squashed 'opendbc/' changes from 62b7a01..3f6cd74 3f6cd74 Add 3rd RSA signal and cleanup (#120) a308ec1 add vals honda (#121) 1317514 Toyota: fixed typos 0339fc8 Toyota: added a better cruise active indicator b0c012d Lexus: add is 94ba43c Toyota: generated dnc files after latest change e16723e Add Distance Lines and RSA (#118) 9aec1ef Add GM signals for ESP/Mode/Highbeams/Intellibeam (#114) a67fff9 add toyota_prius_2010_pt.dbc (#50) c1ee10f Revert "Revert "GM: copy radar header from cadillac (#116)"" git-subtree-dir: opendbc git-subtree-split: 3f6cd74b6ea8e77da957501cfa3acf8ff0812509	2018-11-17 01:58:36 -08:00
Vehicle Researcher	3e78efacca	Merge opendbc subtree	2018-11-17 01:58:36 -08:00
Vehicle Researcher	3b744f4fba	Merge panda subtree	2018-11-17 01:58:34 -08:00
Vehicle Researcher	c10a755516	Squashed 'panda/' changes from 4dd3f5a..293fa33 293fa33 Honda: fixed message forwarding addresses from can2 to can0 799c338 Chrysler safety controls (#130) c05b15b Toyota frc on (#141) 8291971 Toyota: using a more generalized CRUISE_ACTIVE bit that works on all cars 6f157aa Toyota frc on (#140) 8d2470c bumped panda version 915ee4f Honda: forwarding CAN0 to camera, so camera can stay on (#139) git-subtree-dir: panda git-subtree-split: 293fa33f830f0c7cdfad31f621c4bdc016aa7d41	2018-11-17 01:58:34 -08:00
rbiasini	9a42f2f1ad	Merge pull request #434 from commaai/devel calibration improvements and devel synch up	2018-11-13 18:50:56 -08:00
rbiasini	b4dd562c43	Revert "Honda Pilot tuning / lane centering fixes (#408 )" (#433 ) This reverts commit `fdbf1c5938`.	2018-11-13 14:36:29 -08:00
arne182	892e14aa92	0x470 for RAV4H (#428 ) @squall and me have checked the dsu static values for our RAV4H and found that this is similar to the highlander message.	2018-11-09 13:36:34 -08:00
rbiasini	8b7c726bea	more stable calibration (#427 ) * more stable calibration * no commented print	2018-11-08 19:48:21 -08:00
ErichMoraga	db24b1e838	Expanded the previously added Chinese RAV4 (#425 ) This came after testing a different trim level. This fingerprint is confirmed working on both.	2018-11-08 09:56:05 -08:00
dekerr	7db592d3b8	Faster calibration filtering (#421 ) * separable filter * add missing args * formatting * fix casing	2018-11-06 13:51:37 -08:00
ErichMoraga	b7c029c92c	Added fingerprint for Chinese RAV4 (#422 ) Confirmed working on 2017-2018 Chinese RAV4 by @Fiftycentsjj	2018-11-05 18:43:50 -08:00
kegman	fdbf1c5938	Honda Pilot tuning / lane centering fixes (#408 ) Tuned kP and kI and Tire Stiffness Factor settings. Fixes lane centering issues in the following situations: 1. Hugging of left lane line during fast left curving roads 2. Hugging of right lane line during fast right curving roads 3. Left bias in fast lane on crowned roads (sloping down to the left) 4. Right bias in slow lane on crowned roads (sloping down to the right) Works better when lane_width = 2.85 (vs 3.7 default) in pathplanner.py	2018-10-31 11:09:48 -07:00
dekerr	00429e6bbb	Improve VM dynamic sol accuracy (#391 ) * use solve and eye func * remove uneeded import from vehicle model	2018-10-30 22:30:09 +01:00
Jafar Al-Gharaibeh	2f8034b2ec	boardd: keep defined safety models in sync with panda repo (#412 ) This is a noop for most users, but for those of us working on new car ports where we have our own additional defines, having those defines out of sync creates merge conflicts in one place (good so we can fix it) but not the other ( not good becasue they will go unnoticed). I learned this the hardway!. Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>	2018-10-30 22:13:18 +01:00
rbiasini	7c0202a101	Merge pull request #410 from commaai/devel Improve Toyota radar filtering (#409)	2018-10-26 20:37:50 -07:00
Willem Melching	5501541aa2	Improve Toyota radar filtering (#409 )	2018-10-26 17:26:00 +02:00
rbiasini	18801659c5	Merge pull request #405 from commaai/devel 0.5.5 release	2018-10-25 17:34:53 -07:00
Vasily Tarasov	3d05cca678	GM: disengage on radar fault (#396 ) * GM: copy cadillac's radar header DBC * Remove unused interface imports * Rename num targets message to radar header * Catch various radar faults	2018-10-23 18:59:34 -07:00
James-T1	195139999b	Update Genesis fingerprint for longer version from Saeed (#406 )	2018-10-23 18:57:51 -07:00
rbiasini	c9fa92b377	remove badly named file (#404 )	2018-10-23 12:05:11 -07:00
Willem Melching	dfa7757c40	Fix Visiond (#402 )	2018-10-22 21:59:18 +02:00
Willem Melching	a488442402	Revert the changes to GM in 0.5.4 (#380 ) (#386 ) * Revert 0.5.4 changes for GM for 18ers * Redo the refactor of stock control msgs * Fixed missing CONTROL_MSGS -> STOCK_CONTROL_MSGS * Remove spacing * Need candidate array idx	2018-10-03 21:03:09 +02:00
rbiasini	ed6957540f	Merge pull request #379 from commaai/devel Release 0.5.4	2018-09-28 08:14:14 +02:00
rbiasini	999edf243e	Merge pull request #359 from commaai/devel 0.5.3	2018-09-11 07:15:58 +02:00
rbiasini	63adcfc28c	Merge pull request #329 from commaai/devel 0.5.2	2018-08-27 12:49:11 -07:00
Vehicle Researcher	8f22f52235	openpilot v0.5.1 release (#315 ) Merge commit '2cfdc676101c387524246f789c8429647069b827' into release2	2018-08-27 12:21:14 -07:00
George Hotz	0ea21f3545	Merge pull request #293 from commaai/devel 0.5.0 release	2018-07-13 22:37:09 -07:00
George Hotz	27c7425b94	Merge pull request #277 from commaai/devel openpilot 0.4.7.2	2018-06-28 11:22:35 -07:00
George Hotz	30b72e4be1	Merge pull request #267 from commaai/devel openpilot 0.4.7.1	2018-06-19 09:18:12 -07:00
George Hotz	afdda0e5fc	Merge pull request #256 from commaai/devel 0.4.6 Release	2018-05-30 11:19:03 -07:00
George Hotz	88d1dd2bad	Merge pull request #239 from commaai/devel openpilot 0.4.5.1 release	2018-05-01 18:13:46 -07:00
George Hotz	3e491431a3	Merge pull request #226 from commaai/revert-220-devel Revert "openpilot 0.4.3.1"	2018-03-26 15:18:53 -06:00
George Hotz	f550656ee8	Revert "openpilot 0.4.3.1 (#220 )" This reverts commit `640ab12c72`.	2018-03-26 14:13:40 -07:00
George Hotz	640ab12c72	openpilot 0.4.3.1 (#220 ) * Honda Pilot 2017 Port (#161) * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update interface.py * Update interface.py * Update README.md * Update README.md * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update hondacan.py * Update README.md * Update fingerprints.py * Update carstate.py * Update carstate.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update carstate.py * Update Pilot Fingerprint * Update fingerprints.py * Give pilot its own definition and not use ILX * add pilot argument * Add Pilot interface * Add pilot argument * Update interface.py * Parse Different gear on pilot * Add steer max * Fixed duplication of steer max value * Adjust PID's for steering * Update carcontroller.py * Change Steer Ratio and wheelbase * Update Steer fault values Steer fault value of 3, does not seem to effect anything * Update Kp,Ki Ratio * Update interface.py * Update readme for Pilot * add pilot * Update fingerprints.py * Update carstate.py * add signals * add signal * fix restricting video upload to wifi * Dibs on SAFETY_GM numerical value To match Panda repo. * Safety Reference for Honda Bosch * Update fingerprints.py (#210) Consolidated my fingerprint and removed duplicates and ordered the fingerprint for the RAV4H. Double Checked. * Interpolate ki/kp for steering PID loop (#200) * Interpolate ki/kp for steering PID loop Very much needed for the Volt port: car ping-pongs with low kp on high speeeds, and the loop is unstable with high kp on low speeds. Also, removes "number or array?" logic from PIController, now that all the callers use interpolation ofr ki/kp. * Pass speed to steering PID loop for ki/kp interpolation * Remove unused numbers import * Slight changes to UI and Fingerprint for Odyssey Elite (#196) * Adding back drive time to UI * Add fingerprint for Odyssey Elite * Removed extended fingerprint for Elite * Revert "Adding back drive time to UI" This reverts commit b9b02f7ff2511f28922f0bea47cd8c70bb9f4010. * Squashed 'panda/' changes from 98f29a4..67d5208 67d5208 fix signedness issue in toyota safety fe15d3f bump pandacan 11c2b08 add fault invalid 2c26e45 add sleep 27c7637 forgot the counter 3a6d7db don't hang bfa7d2e canloader works b259e2a can flasher is close to working 83f2edf isotp can support in softloader 7ae7c79 typo e85cc47 forgot the selfs 190b4f6 start work on canflasher 5c655c9 add recover support ae3457f usbflash is reliable f7a0ab0 pedal usbflash works 585d0f9 add way to call isotp be82899 despite it being bad code, move isotp 000715b start work on pedal canloader 626e312 pedal has a bootstub now 3662d1e redundant check 81e6b0d fix bug 083cd12 should have bounty to refactor that ish b65d30c bad asserts b2e6c3f isotp untested support for subaddr 30fd66a Merge pull request #93 from vntarasov/volt 06f5109 Merge pull request #94 from gregjhogan/can-printer-hex c7d098c Merge pull request #95 from gregjhogan/setup-script 22fe250 Merge pull request #99 from gregjhogan/bit-transition-example ba16ba3 Merge pull request #100 from gregjhogan/j2534-troubleshooting-instructions ad08ea4 Merge pull request #90 from gregjhogan/can-forwarding f3b6f5d added j2534 troubleshooting instructions 858d150 added script to find bits that transition from 0 to 1 c6acac8 added checking pedal interceptor message length f7226ff added brake safety checks d0c2634 added gas safety checks d378e4a removed bosch safety forwarding restriction on 29 bit addresses 5c7ef9e added bosch safety hooks and forwarding 90c64b6 add note 23de8d4 Merge pull request #97 from commaai/pedal_improvements 0261641 added missing python packages b92b235 fix bytearray encode issue 2434f1c Tweak Volt's brake pedal stickiness e2f73d2 enable has a whole byte to itself d5a9e1e correct checksum f8ed9fa better names 986a14c don't alias pointers 9b8472e add watchdog support 8f0add9 handle faults 1d917f8 split gas set into 2 values, and have a fault state 1b77026 j2534 isn't alpha anymore fbcc872 Merge pull request #92 from commaai/pedal 8a6f44b pedal is sending messages 08f464c python 3 bro is bad bro 9390961 kline checksum algo was broken... 3b7c33b add kline debug support aa622bc init values 631ea9f better refactor eb1fd75 add PEDAL adc sets ccaa310 don't build with usb 8d4d763 debug console works bd09883 comma pedal is building 75a29d5 Merge pull request #84 from gregjhogan/j2534-hds eece37d only the panda has gmlan 9f43abe Merge pull request #89 from vntarasov/volt 5364d43 Merge pull request #88 from vntarasov/smaller-firmware 377a1ec bump version for descriptor fix 4fabdf0 Merge pull request #87 from gregjhogan/usb-multi-packet-control 8580773 fix sending WinUSB Extended Properties Feature Descriptor 6908feb Chevy Volt safety `786a004` Enable optimization to reduce firmware size d70f43b hack to fix thinkpad 95ab1ae fixed flow control message padding bbd04d1 updated installer 62216d0 single standalone DLL for J2534 driver 5c9138d fixed 11 bit address issue f3b0ad2 fix LOOPBACK getting set when DATA_RATE is set b750d36 updated README a9a097f lowered CPU utilization 7c26a70 TIS needs unsupported protocols to return an error 42692b4 TIS doesn't like ChannelID being zero cf126bb SET_CONFIG return error for reserved parameters 2e99dbf fix HDS issues 8203cc8 add is_grey e946a54 add insecure_okay flag 4363b3e check webpage 4f59ded add secure mode note 6b11fb5 add autosecuring to tests b27d185 Merge pull request #86 from commaai/better_pairing 4b53b42 elm wifi isn't an automated test 99f85cb Merge pull request #85 from gregjhogan/usb-wcid 0d38060 auto-install WinUSB device driver c6653ca from python import 38cc0ee add wifi_secure_mode, boots in insecure mode git-subtree-dir: panda git-subtree-split: 67d52089a1300b86800d897f2b271e0a24cf6dd6 * Squashed 'opendbc/' changes from 81d9871..aa067f7 aa067f7 Chevy Volt tweaks (#83) a60c6c4 Toyota: change signal name in EPS_STATUS msg ce70b1a extra setme field toyota LKAS_HUD df2a552 toyota missing ACC_CONTROL checksum 48bb293 Revert "Toyota Prius: added a comma specific message to control the speed sent to the EPS" 5f42439 Toyota Prius: added a comma specific message to control the speed sent to the EPS 6f5e8b6 Pedal Interceptor: fault state VAL moved to _comma efd5f5c add setme to honda ACC_HUD 97fc335 add interceptor to civic 6f40f16 update generator script to allow for multiple imports 9ca956b add setme to toyota STEERING_IPAS e5afa57 run generator for ipas scaling 8bd1182 Toyota IPAS: proper steer angle unit f57511e acceleration pedal for gasPressed c8d1dbc high beams also. likely dashboard message. 9f1c78b high beams for genericToggle f037d42 turn signal lights (and thus hazard lights) b35bb08 turn signals 78986cf Revert "turn signals" ba946c9 turn signals 2af3ecc Speed, braking, and distance signals f40ab87 Set packet lengths, adding steering rate, adjusted speed cd59bfa units for speed_right c2fcce2 speed of right vs left side of car 4ef5fae value table for gear status 97c48e2 tighten up speed bits. brake pressue max comment. a0cbfd1 add gear status PRNDL 0c82865 initial signals for chrysler pacifica 2017 hybrid 5ed0540 add set me to toyota LKAS_HUD aecac5d add set me fields to toyota ACC_HUD 5417013 update toyota ACC_CONTROL fields e91e967 Comma Pedal: made GAS_COMMAND 6 bytes d04434a Comma Pedal: added state byte and enable bit c30b2cd Comma Pedal: sending 2 tracks on 0x200 8f72467 Volt doors and belts status (#70) 60f8b6c add set me to lkas hud honda 3c9e335 fix honda pcm gas message size 7ca471d Add 2018 Toyota CHR dbc (#78) 637fe00 set scaling to 1 for brake and gas which have no real unit 62a88d4 Volt: switch to parsing ACC buttons from powertrain CAN (#74) 3fdd47b Volt's gas pedal only and combined gas/acc (#76) 45ec9c9 Add 2017 Honda Ridgeline (#77) cbd186a Add 2018 Camry Hybrid DBC's (#73) 974eeaf Toyota: re-generated the files after cfbc9ae363f98ef 19ea195 Toyota: more vals for LKA_STATE cfbc9ae fixed inconsistent factor for speed in Honda dbc files e7db803 convert all line endings to unix style git-subtree-dir: opendbc git-subtree-split: aa067f7079aa12617f7a37d85233e51af44e1bb2 * openpilot v0.4.3 release * Squashed 'panda/' changes from 67d5208..3125232 3125232 bump version 703c0b4 Gas Interceptor: another fix to gas pressed logic 196d383 Interceptor: fixed gas pressed logic git-subtree-dir: panda git-subtree-split: 31252324d98e701c33cb6aeda20af6b549175764 * Squashed 'opendbc/' changes from aa067f7..91e882d 91e882d Updating bosch dbcs to use new format and bringing in new honda changes (#82) 9b32e2e Fix Checksum errors for CH-R (#86) git-subtree-dir: opendbc git-subtree-split: 91e882d4a04c129e12d39bcff0bbe56b75166e0f * openpilot v0.4.3 release * openpilot v0.4.3.1 release * fix bug in canpacker for Toyotas with DSU connected (#221) * update year on civic	2018-03-22 22:11:57 -07:00
George Hotz	affc00df1f	Merge pull request #188 from commaai/devel 0.4.2	2018-02-08 17:09:41 -08:00
ErichMoraga	e343c95720	Update fingerprints.py Taiwanese Prius Prime fingerprint was identical to the regular prime (107 msgs.), but should really have 110. I have the correct one in there now.	2018-02-05 14:11:35 -08:00
George Hotz	89605ed88a	Merge pull request #184 from commaai/devel openpilot v0.4.1 hotfix	2018-02-02 19:46:57 -08:00
George Hotz	10cb834c39	Merge pull request #183 from commaai/devel openpilot v0.4.1	2018-02-02 15:51:53 -08:00
George Hotz	675d9feb0b	Merge pull request #176 from commaai/devel openpilot v0.4.0.2	2018-01-22 09:55:06 -08:00
espes	c2e120c362	Merge pull request #165 from commaai/devel openpilot v0.4.0.1	2018-01-17 01:08:47 -08:00
George Hotz	5ae7119646	Merge pull request #154 from commaai/devel openpilot v0.3.9	2017-12-07 19:22:41 -08:00
espes	5864323c7d	Merge pull request #146 from commaai/devel openpilot v0.3.8.2	2017-11-04 05:32:49 -07:00
espes	577608be57	Merge pull request #137 from commaai/devel openpilot v0.3.7	2017-10-04 03:51:03 -07:00
espes	606c21bca4	Merge pull request #126 from commaai/devel openpilot v0.3.6.1	2017-08-17 08:59:30 +02:00
espes	cd25fac75d	Merge pull request #123 from commaai/devel openpilot v0.3.6	2017-08-11 09:00:23 +02:00
espes	b111277f46	Merge pull request #121 from commaai/devel openpilot v0.3.5 release	2017-07-31 09:02:27 +02:00
espes	0fba33b093	Merge pull request #120 from commaai/devel openpilot 0.3.4	2017-07-29 07:41:31 +02:00