Merge pull request #540 from commaai/devel

0.5.9 Release

.gitignore

@@ -25,6 +25,7 @@ clcache
 
 board/obj/
 selfdrive/boardd/boardd
+selfdrive/visiond/visiond
 selfdrive/logcatd/logcatd
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui

CONTRIBUTING.md

@@ -2,11 +2,11 @@
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
 
-Most open source development activity is coordinated through our [slack](https://slack.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
 
 ## Getting Started
 
- * Join our slack [slack.comma.ai](https://slack.comma.ai)
+ * Join our [Discord](https://discord.comma.ai)
  * Make sure you have a [GitHub account](https://github.com/signup/free)
  * Fork [our repositories](https://github.com/commaai) on GitHub
 

Dockerfile.openpilot

@@ -1,7 +1,26 @@
 FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1
 
-RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    clang \
+    vim \
+    screen \
+    wget \
+    bzip2 \
+    git \
+    libglib2.0-0 \
+    python-pip \
+    capnproto \
+    libcapnp-dev \
+    libzmq5-dev \
+    libffi-dev \
+    libusb-1.0-0 \
+    libssl-dev \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    opencl-headers
+
 RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
 
 COPY requirements_openpilot.txt /tmp/

README.md

@@ -15,9 +15,9 @@ Table of Contents
 * [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-)
+* [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)
+* [User Data / chffr Account / Crash Reporting](#user-data--chffr-account--crash-reporting)
 * [Testing on PC](#testing-on-pc)
 * [Contributing](#contributing)
 * [Licensing](#licensing)
@@ -31,7 +31,7 @@ openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
 
 We have a [Twitter you should follow](https://twitter.com/comma_ai).
 
-Also, we have a several thousand people community on [slack](https://slack.comma.ai).
+Also, we have a several thousand people community on [Discord](https://discord.comma.ai).
 
 <table>
   <tr>
@@ -62,36 +62,42 @@ Supported Cars
 | ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
 | 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             |
+| Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | 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>|
+| Chrysler             | Pacifica 2018            | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | 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                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
+| Honda                | Civic Hatchback 2017-19  | 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             |
+| Honda                | Ridgeline 2017-19        | 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>|
+| Jeep                 | Grand Cherokee 2017-19   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | 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               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 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 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 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)***  
@@ -99,35 +105,31 @@ Supported Cars
 <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>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/).  
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.  
+<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).  
 
 Community Maintained Cars
 ------
 
-| 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>|
+| 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>9</sup>|
+| Tesla                | Model S 2013             | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>9</sup>|
 
 [[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 />
+<sup>9</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.
 
 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.
+- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
   - 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.
 - All Hyundai with SmartSense.
 - All Kia with SCC and LKAS.
+- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
 
 How can I add support for my car?
 ------
@@ -136,7 +138,7 @@ If your car has adaptive cruise control and lane keep assist, you are in luck. U
 
 We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
 
-- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
+- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
 - 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 uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
 
@@ -162,11 +164,13 @@ Directory structure
         ├── locationd       # Soon to be home of precise location
         ├── logcatd         # Android logcat as a service
         ├── loggerd         # Logger and uploader of car data
+        ├── mapd            # Fetches map data and computes next global path
+        ├── orbd            # Computes ORB features from frames
         ├── proclogd        # Logs information from proc
         ├── sensord         # IMU / GPS interface code
         ├── test            # Car simulator running code through virtual maneuvers
         ├── ui              # The UI
-        └── visiond         # Embedded vision pipeline
+        └── visiond         # Vision pipeline
 
 To understand how the services interact, see `selfdrive/service_list.yaml`
 
@@ -186,23 +190,21 @@ By using it, you agree to [our privacy policy](https://community.comma.ai/privac
 Testing on PC
 ------
 
-There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
+Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+
+Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
 
 ```bash
 # Requires working docker
 ./run_docker_tests.sh
 ```
 
-The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudinal/index.html`
-
-More extensive testing infrastructure and simulation environments are coming soon.
-
-
 Contributing
 ------
 
-We welcome both pull requests and issues on
-[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
+We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
+
+We also have a [bounty program](https://comma.ai/bounties.html).
 
 Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
 

RELEASES.md

@@ -1,3 +1,25 @@
+Version 0.5.9 (2019-02-10)
+========================
+ * Improve calibration using a dedicated neural network
+ * Abstract planner in its own process to remove lags in controls process
+ * Improve speed limits with country/region defaults by road type
+ * Reduce mapd data usage with gzip thanks to eFiniLan
+ * Zip log files in the background to reduce disk usage
+ * Kia Optima support thanks to emmertex!
+ * Buick Regal 2018 support thanks to HOYS!
+ * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+ * Chrysler Pacifica and Jeep Grand Cherokee suppor thanks to adhintz!
+
+Version 0.5.8 (2019-01-17)
+========================
+ * Open sourced visiond
+ * Auto-slowdown for upcoming turns
+ * Chrysler/Jeep/Fiat support thanks to adhintz!
+ * Honda Civic 2019 support thanks to csouers!
+ * Improve use of car display in Toyota thanks to arne182!
+ * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
+ * EON stops charging when 12V battery drops below 11.8V
+
 Version 0.5.7 (2018-12-06)
 ========================
  * Speed limit from OpenStreetMap added to UI

cereal/car.capnp

@@ -244,6 +244,8 @@ struct CarControl {
     leadVisible @3: Bool;
     visualAlert @4: VisualAlert;
     audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
 
     enum VisualAlert {
       # these are the choices from the Honda

cereal/log.capnp

@@ -187,10 +187,10 @@ struct SensorEventData {
     iOS @1;
     fiber @2;
     velodyne @3;  # Velodyne IMU
-    # c3 sensors below
-    bno055 @4;
-    lsm6ds3 @5;
-    bmp280 @6;
+    bno055 @4;    # Bosch accelerometer
+    lsm6ds3 @5;   # accelerometer (c2)
+    bmp280 @6;    # barometer (c2)
+    mmc3416x @7;  # magnetometer (c2)
   }
 }
 
@@ -374,6 +374,7 @@ struct Live100Data {
   l20MonoTimeDEPRECATED @17 :UInt64;
   mdMonoTimeDEPRECATED @18 :UInt64;
   planMonoTime @28 :UInt64;
+  pathPlanMonoTime @50 :UInt64;
 
   state @31 :ControlState;
   vEgo @0 :Float32;
@@ -399,6 +400,9 @@ struct Live100Data {
   curvature @37 :Float32;       # path curvature from vehicle model
   hudLeadDEPRECATED @14 :Int32;
   cumLagMs @15 :Float32;
+  startMonoTime @48 :UInt64;
+  mapValid @49 :Bool;
+  forceDecel @51 :Bool;
 
   enabled @19 :Bool;
   active @36 :Bool;
@@ -420,6 +424,10 @@ struct Live100Data {
   engageable @41 :Bool;  # can OP be engaged?
   driverMonitoringOn @43 :Bool;
 
+  # maps
+  vCurvature @46 :Float32;
+  decelForTurn @47 :Bool;
+
   enum ControlState {
     disabled @0;
     preEnabled @1;
@@ -540,12 +548,12 @@ struct Plan {
   events @13 :List(Car.CarEvent);
 
   # lateral, 3rd order polynomial
-  lateralValid @0 :Bool;
-  dPoly @1 :List(Float32);
-  laneWidth @11 :Float32;
+  lateralValidDEPRECATED @0 :Bool;
+  dPolyDEPRECATED @1 :List(Float32);
+  laneWidthDEPRECATED @11 :Float32;
 
   # longitudinal
-  longitudinalValid @2 :Bool;
+  longitudinalValidDEPRECATED @2 :Bool;
   vCruise @16 :Float32;
   aCruise @17 :Float32;
   vTarget @3 :Float32;
@@ -554,8 +562,14 @@ struct Plan {
   aTargetMinDEPRECATED @4 :Float32;
   aTargetMaxDEPRECATED @5 :Float32;
   aTarget @18 :Float32;
+
+  vStart @26 :Float32;
+  aStart @27 :Float32;
+
   jerkFactor @6 :Float32;
   hasLead @7 :Bool;
+  hasLeftLaneDEPRECATED @23 :Bool;
+  hasRightLaneDEPRECATED @24 :Bool;
   fcw @8 :Bool;
   longitudinalPlanSource @15 :LongitudinalPlanSource;
 
@@ -567,6 +581,8 @@ struct Plan {
   # maps
   vCurvature @21 :Float32;
   decelForTurn @22 :Bool;
+  mapValid @25 :Bool;
+
 
   struct GpsTrajectory {
     x @0 :List(Float32);
@@ -581,6 +597,21 @@ struct Plan {
   }
 }
 
+struct PathPlan {
+  laneWidth @0 :Float32;
+
+  dPoly @1 :List(Float32);
+  cPoly @2 :List(Float32);
+  cProb @3 :Float32;
+  lPoly @4 :List(Float32);
+  lProb @5 :Float32;
+  rPoly @6 :List(Float32);
+  rProb @7 :Float32;
+
+  angleSteers @8 :Float32;
+  valid @9 :Bool;
+}
+
 struct LiveLocationData {
   status @0 :UInt8;
 
@@ -1267,6 +1298,7 @@ struct UbloxGnss {
       carrierPhaseStdev @10 :Float32;
       # doppler standard deviation in Hz
       dopplerStdev @11 :Float32;
+      sigId @12 :UInt8;
 
       struct TrackingStatus {
         # pseudorange valid
@@ -1575,6 +1607,11 @@ struct LiveParametersData {
 struct LiveMapData {
   speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
+  speedAdvisoryValid @12 :Bool;
+  speedAdvisory @13 :Float32;
+  speedLimitAheadValid @14 :Bool;
+  speedLimitAhead @15 :Float32;
+  speedLimitAheadDistance @16 :Float32;
   curvatureValid @2 :Bool;
   curvature @3 :Float32;
   wayId @4 :UInt64;
@@ -1584,8 +1621,22 @@ struct LiveMapData {
   roadCurvatureX @8 :List(Float32);
   roadCurvature @9 :List(Float32);
   distToTurn @10 :Float32;
+  mapValid @11 :Bool;
 }
 
+struct CameraOdometry {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
+struct KalmanOdometry {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
 
 struct Event {
   # in nanoseconds?
@@ -1654,5 +1705,8 @@ struct Event {
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
+    cameraOdometry @63 :CameraOdometry;
+    pathPlan @64 :PathPlan;
+    kalmanOdometry @65 :KalmanOdometry;
   }
 }

common/params.py

@@ -67,6 +67,7 @@ keys = {
 # written: visiond
 # read:    visiond, controlsd
   "CalibrationParams": TxType.PERSISTENT,
+  "ControlsParams": TxType.PERSISTENT,
 # written: controlsd
 # read:    radard
   "CarParams": TxType.CLEAR_ON_CAR_START,

common/transformations/camera.py

@@ -1,5 +1,6 @@
 import numpy as np
 import common.transformations.orientation as orient
+import cv2
 
 FULL_FRAME_SIZE = (1164, 874)
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@@ -28,21 +29,13 @@ view_frame_from_device_frame = device_frame_from_view_frame.T
 def get_calib_from_vp(vp):
   vp_norm = normalize(vp)
   yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  # TODO should be, this but written
-  # to be compatible with meshcalib and
-  # get_view_frame_from_road_fram
-  #pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
   roll_calib = 0
   return roll_calib, pitch_calib, yaw_calib
 
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-  # TODO
-  # calibration pitch is currently defined
-  # opposite to pitch in device frame
-  pitch = -pitch
   device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
   view_from_road = view_frame_from_device_frame.dot(device_from_road)
   return np.hstack((view_from_road, [[0], [height], [0]]))
@@ -62,31 +55,35 @@ def roll_from_ke(m):
   return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
                     -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
 
-def normalize(img_pts):
+
+def normalize(img_pts, intrinsics=eon_intrinsics):
   # normalizes image coordinates
   # accepts single pt or array of pts
+  intrinsics_inv = np.linalg.inv(intrinsics)
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
   img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_normalized = eon_intrinsics_inv.dot(img_pts.T).T
+  img_pts_normalized = intrinsics_inv.dot(img_pts.T).T
   img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
   return img_pts_normalized[:,:2].reshape(input_shape)
 
-def denormalize(img_pts):
+
+def denormalize(img_pts, intrinsics=eon_intrinsics):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
   img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_denormalized = eon_intrinsics.dot(img_pts.T).T
+  img_pts_denormalized = intrinsics.dot(img_pts.T).T
   img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
   img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
   img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
   img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
   return img_pts_denormalized[:,:2].reshape(input_shape)
 
+
 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
   # device from ecef frame
   # device frame is x -> forward, y-> right, z -> down
@@ -99,6 +96,7 @@ def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
   pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
   return pt_device.reshape(input_shape)
 
+
 def img_from_device(pt_device):
   # img coordinates from pts in device frame
   # first transforms to view frame, then to img coords
@@ -113,3 +111,30 @@ def img_from_device(pt_device):
   pt_img = pt_view/pt_view[:,2:3]
   return pt_img.reshape(input_shape)[:,:2]
 
+
+def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
+  size = img.shape[:2]
+  rot = orient.rot_from_euler(eulers)
+  quadrangle = np.array([[0, 0],
+                         [size[1]-1, 0],
+                         [0, size[0]-1],
+                         [size[1]-1, size[0]-1]], dtype=np.float32)
+  quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
+  warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
+  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
+                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
+  if crop:
+    W_border = (size[1] - crop[0])/2
+    H_border = (size[0] - crop[1])/2
+    outside_crop = (((warped_quadrangle[:,0] < W_border) |
+                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
+                    ((warped_quadrangle[:,1] < H_border) |
+                     (warped_quadrangle[:,1] >= size[0] - H_border)))
+    if not outside_crop.all():
+      raise ValueError("warped image not contained inside crop")
+  else:
+    H_border, W_border = 0, 0
+  M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
+  img_warped = cv2.warpPerspective(img, M, size[::-1])
+  return img_warped[H_border: size[0] - H_border,
+                    W_border: size[1] - W_border]

common/transformations/orientation.py

@@ -221,6 +221,8 @@ def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
   ecef_poses = array(ecef_poses)
   output_shape = ecef_poses.shape
   ned_ecef_init = np.atleast_2d(ned_ecef_init)
+  if ned_ecef_init.shape[0] == 1:
+    ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1))
   ecef_poses = np.atleast_2d(ecef_poses)
 
   ned_poses = np.zeros(ecef_poses.shape)

opendbc/acura_ilx_2016_can_generated.dbc

@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -268,12 +277,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/acura_rdx_2018_can_generated.dbc

@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -257,12 +266,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/chrysler_pacifica_2017_hybrid.dbc

@@ -37,9 +37,9 @@ BU_: XXX
 
 
 BO_ 258 STEERING: 8 XXX
- SG_ INCREMENTING_STEERING : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_STEERING : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ UNKNOWN_STEERING : 48|3@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_STEERING : 50|3@0+ (1,0) [0|15] "" XXX
  SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
  SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
 
@@ -59,30 +59,30 @@ BO_ 820 DOORS: 8 XXX
  SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAM_DISPLAY : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 746 GEAR: 5 XXX
  SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX
  SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ GEAR_INCREMENTING : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 31|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 284 BRAKE_1: 8 XXX
  SG_ SPEED_RELATED_1 : 37|14@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_RELATED_1_2 : 18|11@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_RELATED_1_1 : 3|12@0+ (1,0) [0|255] "" XXX
- SG_ INCREMENTING_BRAKE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_BRAKE : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 320 BRAKE_2: 8 XXX
  SG_ SPEED_RELATED_2 : 47|8@0+ (1,0) [0|63] "" XXX
- SG_ INCREMENTING_140 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_140 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_PRESSED_2 : 2|3@0+ (1,0) [0|7] "" XXX
  SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 736 TRIP: 8 XXX
- SG_ DISTANCE_COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
- SG_ DISTANCE_COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
+ SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
+ SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
 
 BO_ 344 WHEEL_SPEEDS: 8 XXX
  SG_ WHEEL_SPEED_FL : 3|12@0+ (0.0189408,0) [0|65535] "m/s" XXX
@@ -96,37 +96,38 @@ BO_ 792 STEERING_LEVERS: 8 XXX
  SG_ HIGH_BEAM_FLASH : 3|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
- SG_ INCREMENTING_ACCEL_PEDAL : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_ACCEL_PEDAL : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 464 SEATBELT_STATUS: 8 XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 544 LKAS_INDICATOR_1: 8 XXX
- SG_ LKAS_IS_GREEN : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_PARK_HAS_CONTROL_1 : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@1+ (1,0) [0|1] "" XXX
- SG_ INCREMENTING_220 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_220 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ UNKNOWN_220_2 : 34|11@0+ (1,0) [0|255] "" XXX
- SG_ UNKNOWN_220_1 : 19|12@0+ (1,0) [0|4095] "" XXX
- SG_ UNKNOWN_220_0 : 2|11@0+ (1,0) [0|63] "" XXX
+BO_ 544 EPS_STATUS: 8 XXX
+ SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ TORQUE_DRIVER : 2|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
+ SG_ TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 658 LKAS_INDICATOR_2: 6 XXX
- SG_ LKAS_INCREMENTING : 39|4@0+ (1,0) [0|15] "" XXX
- SG_ LKAS_CHECKSUM_2 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ LKAS_STEERING_TORQUE_MAYBE : 3|12@0- (1,0) [0|63] "" XXX
+BO_ 658 LKAS_COMMAND: 6 XXX
+ SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKAS_STEERING_TORQUE : 2|11@0+ (1,-1024) [0|1] "" XXX
+ SG_ LKAS_HIGH_TORQUE : 4|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 678 LKAS_INDICATOR_3: 8 XXX
- SG_ WARNING_PLACE_HANDS : 22|2@0+ (1,0) [0|3] "" XXX
- SG_ LKAS_WHITE_OR_YELLOW : 0|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_IS_YELLOW_2 : 19|1@1+ (1,0) [0|1] "" XXX
+BO_ 678 LKAS_HUD: 8 XXX
+ SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 705 AUTO_PARK_BUTTON: 8 XXX
- SG_ AUTO_PARK_TOGGLE_2 : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX
  SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ INCREASING_UNKNOWN : 32|7@1+ (1,0) [0|15] "" XXX
+ SG_ INCREASING_UNKNOWN : 38|7@0+ (1,0) [0|15] "" XXX
 
 BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
  SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX
@@ -134,45 +135,45 @@ BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
 BO_ 671 AUTO_PARK_SIGNALS_2: 8 XXX
  SG_ AUTO_PARK_PARALLEL : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ AUTO_PARK_PERPENDICULAR_1 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ INCREMENTING : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ AUTO_PARK_MAYBE_TURNING : 3|12@0+ (1,0) [0|1023] "" XXX
  SG_ AUTO_PARK_TURNING_STATUS : 7|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX
- SG_ INCREASING_UNKNOWN : 48|8@1+ (1,0) [0|7] "" XXX
+ SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX
  SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX
 
 BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX
  SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX
  SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX
- SG_ AUTO_PARK_GEAR_2 : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ AUTO_PARK_GEAR_3 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_GEAR_2 : 35|4@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_GEAR_3 : 51|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 332 STEERING_2: 8 XXX
- SG_ INCREMENTING_14C : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX
  SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
 
 BO_ 720 BLIND_SPOT_WARNINGS: 6 XXX
  SG_ BLIND_SPOT_RIGHT : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ BLIND_SPOT_LEFT : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ BLIND_SPOT_LEFT : 2|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 331 BRAKE_3: 8 XXX
  SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ INCREMENTING_14B : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_14B : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 608 PARKSENSE_SIGNAL: 8 XXX
  SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ INCREMENTING_260 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_260 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ IN_REVERSE : 10|1@1+ (1,0) [0|255] "" XXX
- SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@1+ (1,0) [0|255] "" XXX
- SG_ HUMAN_HAS_CONTROL : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ IN_REVERSE : 10|1@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@0+ (1,0) [0|255] "" XXX
+ SG_ HUMAN_HAS_CONTROL : 17|1@0+ (1,0) [0|3] "" XXX
 
-BO_ 729 LKAS_STATUS_1: 5 XXX
+BO_ 729 LKAS_HEARTBIT: 5 XXX
  SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 274 NEW_MSG_112: 2 XXX
@@ -182,13 +183,13 @@ BO_ 290 NEW_MSG_122: 6 XXX
 BO_ 376 NEW_MSG_178: 3 XXX
 
 BO_ 288 ACCEL_RELATED_120: 7 XXX
- SG_ UNKNOWN_INCREMENTING_120 : 47|4@0+ (1,0) [0|15] "" XXX
- SG_ UNKNOWN_CHECKSUM_120 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX
  SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 257 ACCEL_RELATED_101: 5 XXX
- SG_ ENERGY_OR_RPM : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 388 NEW_MSG_184: 4 XXX
 
@@ -201,18 +202,20 @@ BO_ 560 NEW_MSG_230: 4 XXX
 BO_ 564 NEW_MSG_234: 4 XXX
 
 BO_ 571 WHEEL_BUTTONS: 3 XXX
- SG_ CHECKSUM_23B : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ACC_FOLLOW_DEC : 1|1@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_FOLLOW_DEC : 1|1@0+ (1,0) [0|3] "" XXX
  SG_ ACC_SPEED_INC : 2|1@0+ (1,0) [0|255] "" XXX
- SG_ ACC_SPEED_DEC : 3|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_FOLLOW_INC : 8|1@1+ (1,0) [0|15] "" XXX
+ SG_ ACC_SPEED_DEC : 3|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_FOLLOW_INC : 8|1@0+ (1,0) [0|15] "" XXX
+ SG_ ACC_CANCEL : 0|1@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 669 NEW_MSG_29d: 3 XXX
- SG_ INCREMENTING_29D : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_29D : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 825 NEW_MSG_339: 2 XXX
+BO_ 825 AUDIBLE_BEEP_339: 2 XXX
+ SG_ BEEP_339 : 7|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 856 NEW_MSG_358: 4 XXX
 
@@ -232,60 +235,61 @@ BO_ 926 NEW_MSG_39e: 3 XXX
 
 BO_ 168 ACCEL_RELATED_a8: 8 XXX
  SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ INCREMENTING_A8 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_A8 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 270 ACCEL_RELATED_10e: 8 XXX
  SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX
- SG_ INCREMENTING_ACCEL : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_ACCEL : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 291 ENERGY_RELATED_123: 8 XXX
  SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX
- SG_ INCREMENTING_123 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_123 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX
 
 BO_ 294 ENERGY_RELATED_126: 8 XXX
- SG_ CHECKSUM_126 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX
- SG_ INCREMENTING_126 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX
  SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX
 
 BO_ 300 NEW_MSG_12C: 8 XXX
 
 BO_ 308 ACCEL_GAS_134: 8 XXX
- SG_ INCREMENTING_134 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ ACCEL_134 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACCEL_134 : 43|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 532 ENERGY_RELATED_214: 8 XXX
  SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
  SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX
 
 BO_ 559 ACCEL_GAS_22F: 8 XXX
- SG_ ACCEL_22F : 0|4@1+ (1,0) [0|255] "" XXX
- SG_ INCREMENTING_22F : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_22F : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_22F : 3|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 655 CHARGING_MAYBE_28F: 8 XXX
- SG_ CHARGING : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ CHARGING : 1|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 660 BRAKE_RELATED_294: 8 XXX
- SG_ INCREMENTING_294 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_294 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PERHAPS_294 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PERHAPS_294 : 31|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 764 ACCEL_RELATED_2FC: 8 XXX
- SG_ ACCEL_2FC : 8|6@1+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_2FC : 13|6@0+ (1,0) [0|255] "" XXX
 
 BO_ 816 TRACTION_BUTTON: 8 XXX
- SG_ TRACTION_OFF : 19|1@1+ (1,0) [0|3] "" XXX
+ SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX
+ SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 878 ACCEL_RELATED_36E: 8 XXX
  SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL_OR_RPM_1 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_OR_RPM_1 : 7|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 324 SPEED_2: 8 XXX
  SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX
@@ -298,33 +302,33 @@ BO_ 501 DASHBOARD: 8 XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 
 BO_ 639 NEW_MSG_27f: 8 XXX
- SG_ INCREASING : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 701 NEW_MSG_2bd: 8 XXX
- SG_ unknown_1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ unknown_1 : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 832 UNKNOWN_340: 8 XXX
- SG_ SPEED_DIGITAL : 56|8@1+ (1,0) [0|255] "mph" XXX
+ SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 
 BO_ 848 UNKNOWN_350: 8 XXX
- SG_ INCREASING_LSB : 0|6@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_LSB : 5|6@0+ (1,0) [0|255] "" XXX
  SG_ INCREASING_MSB : 12|5@0+ (1,0) [0|31] "" XXX
 
 BO_ 908 NEW_MSG_38c: 8 XXX
  SG_ INCREASING_MSB : 44|5@0+ (1,0) [0|31] "" XXX
- SG_ INCREASING_LSB : 56|6@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_LSB : 61|6@0+ (1,0) [0|255] "" XXX
 
 BO_ 938 NEW_MSG_3aa: 8 XXX
- SG_ INCREASING_UNKNOWN_1 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ INCREASING_UNKNOWN_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_UNKNOWN_1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_UNKNOWN_2 : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 940 NEW_MSG_3ac: 8 XXX
- SG_ INCREASING_1 : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_1 : 35|4@0+ (1,0) [0|15] "" XXX
+ SG_ INCREASING_2 : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 941 NEW_MSG_3ad: 8 XXX
- SG_ INCREASING_1 : 32|5@1+ (1,0) [0|31] "" XXX
- SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_1 : 36|5@0+ (1,0) [0|31] "" XXX
+ SG_ INCREASING_2 : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 500 ACC_2: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -335,29 +339,29 @@ BO_ 500 ACC_2: 8 XXX
  SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 625 ACC_1: 8 XXX
- SG_ SPEED : 24|8@1+ (1,0) [0|255] "km/h" XXX
+ SG_ SPEED : 31|8@0+ (1,0) [0|255] "km/h" XXX
  SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 268 ACC_10c: 8 XXX
- SG_ BRAKE_PERHAPS : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 384 NEW_MSG_180: 8 XXX
  SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|8@0+ (1,0) [0|3] "" XXX
 
 BO_ 853 NEW_MSG_355: 8 XXX
 
 BO_ 939 NEW_MSG_3ab: 8 XXX
 
 BO_ 512 NEW_MSG_200: 8 XXX
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX
  SG_ INCREASING : 27|12@0+ (1,0) [0|127] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 
@@ -369,7 +373,7 @@ CM_ SG_ 514 SPEED_LEFT "TODO find upper limit";
 CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
 CM_ SG_ 820 TURN_LIGHT_LEFT "oscillates with the light blinking";
 CM_ SG_ 820 TURN_LIGHT_RIGHT "hazard blinks both right and left lights";
-CM_ SG_ 746 PRNDL "4=D, 3=N, 2=R, 1=P";
+CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P";
 CM_ SG_ 746 GEAR_CHECKSUM "different than the LKAS checksum. unknown non-simple algorithm. just build a lookup table for it.";
 CM_ SG_ 284 SPEED_RELATED_1 "Another Speed Signal, Maybe RPMs?";
 CM_ SG_ 284 BRAKE_RELATED_1_1 "Correlates with braking";
@@ -378,13 +382,14 @@ CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes";
 CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right";
 CM_ SG_ 792 HIGH_BEAM_FLASH "use this for genericToggle";
 CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed";
-CM_ SG_ 544 AUTO_PARK_HAS_CONTROL_1 "set when autopark has control";
-CM_ SG_ 658 LKAS_INCREMENTING "each message increments, 0..f";
-CM_ SG_ 658 LKAS_CHECKSUM_2 "checksum calculated with https://gist.github.com/adhintz/94bf8d19b9075539f50172ab0fb24ba1";
-CM_ SG_ 658 LKAS_STEERING_TORQUE_MAYBE "1024 is straight. most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s";
-CM_ SG_ 678 WARNING_PLACE_HANDS "set when warning displays place hands on steering wheel";
-CM_ SG_ 678 LKAS_WHITE_OR_YELLOW "set when indicator is yellow or white. could indicate lkas not on track.";
-CM_ SG_ 678 LKAS_IS_YELLOW_2 "set when indicator is yellow. could indicate lkas is steering.";
+CM_ SG_ 544 LKAS_STATE "2 when autopark has control, 8 when is actuatable by lkas, 4 when there is a fault";
+CM_ SG_ 544 TORQUE_MOTOR_RAW "has larger range than TORQUE_MOTOR but ut seems biased";
+CM_ SG_ 658 COUNTER "each message increments, 0..f";
+CM_ SG_ 658 CHECKSUM "checksum calculated with https://gist.github.com/adhintz/94bf8d19b9075539f50172ab0fb24ba1";
+CM_ SG_ 658 LKAS_STEERING_TORQUE "Most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s";
+CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
+CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
+CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
 CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking";
 CM_ SG_ 705 INCREASING_UNKNOWN "sometimes decreasing";
 CM_ SG_ 671 AUTO_PARK_PARALLEL "parallel parking mode";
@@ -399,14 +404,17 @@ CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more
 CM_ SG_ 720 BLIND_SPOT_RIGHT "yellow triangle alert on side view mirror when a car is in your blind spot";
 CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled";
 CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in.";
-CM_ SG_ 288 UNKNOWN_CHECKSUM_120 "not the LKAS checksum";
+CM_ SG_ 288 UNKNOWN_CHECKSUM "not the LKAS checksum";
 CM_ SG_ 288 GAS_ENGINE_RPM_MAYBE "lags acceleration, perhaps gas engine";
 CM_ SG_ 257 ENERGY_OR_RPM "perhaps energy consumption or RPMs";
+CM_ SG_ 571 CHECKSUM "standard checksum";
+CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning.";
 CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
 CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
 CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
 CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
 CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
+CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense";
 CM_ SG_ 324 SPEED_2 "signal is approx half other speeds";
 CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC";
 CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC";
@@ -422,5 +430,5 @@ CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
-VAL_ 746 PRNDL 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
+VAL_ 746 PRNDL 5 "Low" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

opendbc/generator/honda/_honda_2017.dbc

@@ -54,6 +54,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON

opendbc/generator/honda/acura_ilx_2016_can.dbc

@@ -39,12 +39,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/acura_rdx_2018_can.dbc

@@ -28,12 +28,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_civic_touring_2016_can.dbc

@@ -44,14 +44,6 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" 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|3] "" 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

opendbc/generator/honda/honda_crv_touring_2016_can.dbc

@@ -29,12 +29,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_fit_ex_2018_can.dbc

@@ -39,14 +39,6 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" 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|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_odyssey_exl_2018.dbc

@@ -31,15 +31,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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|3] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 450 EPB_STATUS: 8 XXX
  SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX

opendbc/generator/honda/honda_pilot_touring_2017_can.dbc

@@ -39,12 +39,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc

@@ -34,12 +34,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/generator/toyota/_comma.dbc

@@ -11,14 +11,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 

opendbc/generator/toyota/_toyota_2017.dbc

@@ -44,7 +44,7 @@ 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
@@ -60,6 +60,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -108,7 +111,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -148,7 +154,7 @@ 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
 
@@ -192,7 +198,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -242,8 +248,8 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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";

opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc

@@ -22,7 +22,9 @@ BO_ 610 EPS_STATUS: 5 EPS
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" 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";
@@ -31,3 +33,5 @@ CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";

opendbc/generator/toyota/toyota_chr_2018_pt.dbc

@@ -23,11 +23,15 @@ BO_ 610 EPS_STATUS: 8 EPS
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
 
 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 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";
-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";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";

opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc

@@ -22,7 +22,14 @@ BO_ 610 EPS_STATUS: 5 EPS
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" 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";
@@ -30,4 +37,9 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
+VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";

opendbc/generator/toyota/toyota_sienna_xle_2018_pt.dbc

@@ -0,0 +1,33 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|65535] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|3] "" 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
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 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";
+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"

opendbc/gm_global_a_object.dbc

@@ -33,16 +33,33 @@ NS_ :
 
 BS_:
 
-BU_: K109_FCM B233B_LRR NEO K124_ASCM
+BU_: K109_FCM B233B_LRR NEO VIS_FO VIS2_FO K124_ASCM Vector__XXX EOCM_F_FO EOCM2A_IMX6_FO EOCM2A_K2_FO EOCM2A_K1_FO EOCM2B_IMX6_FO EOCM2B_K2_FO EOCM2B_K1_FO
 VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ;
-VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected " 1 "New object" 0 "No object" ;
-VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction " 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
+VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected" 1 "New object" 0 "No object" ;
+VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
+VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ;
+VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ;
+VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ;
+VAL_TABLE_ LnSnsRLnPosValid 1 "Invalid" 0 "Valid" ;
+VAL_TABLE_ ObjectType 7 "no object present" 6 "fixed roadside object" 5 "fixed overhead object" 4 "pedestrian" 3 "motocycle  / bicycle" 2 "Large vehicle (semi)" 1 "4 Wheel Vehicle (car, small trk)" 0 "Unknown" ;
+VAL_TABLE_ FwVsnCinCoutPotT9Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT8Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT7Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT6Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT5Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT4Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT3Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT2Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT1Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT12Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT11Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT10Rev 2 "Right" 1 "Left" 0 "None" ;
 
 
 BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
- SG_ Always12 : 0|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TimeStatusChecksum : 0|12@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ Always12 : 0|8@0+ (1,0) [0|0] ""  Vector__XXX
+ SG_ TimeStatusChecksum : 0|12@0+ (1,0) [0|0] ""  Vector__XXX
 
 BO_ 161 ASCMTimeStatus: 7 NEO
  SG_ TimeStatus : 7|28@0+ (1,0) [0|0] ""  B233B_LRR
@@ -258,6 +275,428 @@ BO_ 1121 LRRObject01: 8 B233B_LRR
  SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
  SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
  SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+ 
+ BO_ 1094 F_Vision_Obj_Track_12: 8 VIS2_FO
+ SG_ FwdVsnObjTypTr12Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk12Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk12Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FVisionWidthTrk12 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ FVisionMeasStatTrk12 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk12 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk12 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk12 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec"  EOCM_F_FO
+ SG_ FVisionConfTrk12 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ ObjDirTrk12 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk12 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk12 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+
+BO_ 1093 F_Vision_Obj_Track_11: 8 VIS2_FO
+ SG_ FwdVsnObjTypTr11Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk11Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk11Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FVisionWidthTrk11 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ FVisionMeasStatTrk11 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk11 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk11 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk11 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec"  EOCM_F_FO
+ SG_ FVisionConfTrk11 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ ObjDirTrk11 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk11 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk11 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+
+BO_ 1100 F_Vision_Obj_Track_12_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT12Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk12 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk12 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk12 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk12 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr12 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk12 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo12 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1099 F_Vision_Obj_Track_11_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT11Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk11 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk11 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk11 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk11 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr11 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk11 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo11 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1098 F_Vision_Obj_Track_10_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT10Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk10 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk10 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk10 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk10 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr10 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk10 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo10 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1097 F_Vision_Obj_Track_9_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT9Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk9 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk9 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk9 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk9 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr9 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk9 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo9 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1096 F_Vision_Obj_Track_8_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT8Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk8 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk8 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk8 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk8 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr8 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk8 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo8 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1095 F_Vision_Obj_Track_7_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT7Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk7 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk7 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk7 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk7 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr7 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk7 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo7 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1068 F_Vision_Obj_Track_6_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT6Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk6 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk6 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk6 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk6 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr6 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk6 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo6 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1067 F_Vision_Obj_Track_5_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT5Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk5 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk5 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk5 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk5 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr5 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk5 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo5 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1066 F_Vision_Obj_Track_4_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT4Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk4 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk4 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk4 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk4 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr4 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk4 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo4 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1065 F_Vision_Obj_Track_3_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT3Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk3 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk3 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk3 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk3 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr3 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk3 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo3 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1064 F_Vision_Obj_Track_2_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT2Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk2 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk2 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk2 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk2 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr2 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk2 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo2 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1063 F_Vision_Obj_Track_1_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT1Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk1 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk1 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk1 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk1 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk1 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr1 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo1 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1088 F_Vision_Obj_Header_2: 8 VIS2_FO
+ SG_ FrntVsnInPthVehBrkNwSt : 35|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FrntVsnClostPedBrkNwSt : 39|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FrntVsnClostPedObjID : 29|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FrntVsnClostPedAlrtNwFlg : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrntVsnClostPedNotftnFlg : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrntVsnInPthVehAlrtNwFlg : 2|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnVldTgtNum2 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FrtVsnTmStmp2V : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnTmStmp2 : 10|11@0+ (1,0) [0|2047] ""  EOCM_F_FO
+ SG_ FrtVsnRollCnt2 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FrtVsnBrstChksum2 : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
+
+BO_ 854 F_Vision_Environment_7: 3 VIS2_FO
+ SG_ FwdVsnCnstrctAreaDst : 13|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnCnstrctZnDet : 15|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnEgoVehLnPos : 17|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnRdTypDet : 9|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnTunnlDetd : 23|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnTunnlDst : 21|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBrstID5 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 853 F_Vision_Environment_6: 8 VIS2_FO
+ SG_ LnMrkg4LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnDstV : 56|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnCrvtGrad : 47|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/(m*sec)"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnCrvt : 31|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnMrkrTyp : 4|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBrstID4 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 852 F_Vision_Environment_5: 8 VIS2_FO
+ SG_ LnMrkg3LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnDstV : 56|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnCrvtGrad : 47|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/(m*sec)"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnCrvt : 31|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnMrkrTyp : 4|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBrstID3 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 309 LHT_CameraObjConfirmation_FO: 1 VIS_FO
+ SG_ HiBmRecmnd : 1|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ CtLghtDet : 0|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+
+BO_ 848 F_Vision_Environment: 8 VIS_FO
+ SG_ FwdVsnEnvIllum : 37|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTngtOfHdngLnRtV : 1|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTngtOfHdngLnRt : 31|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnChngStatus : 39|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseRollingCount : 7|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseSystemOK : 4|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSnsLLnPosValid : 2|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSenseDistToLLnEdge : 14|7@0+ (0.05,0) [0|6.35] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsRLnPosValid : 0|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsDistToRLnEdge : 22|7@0+ (0.05,0) [0|6.35] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseTimeStampV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseTimeStamp : 34|11@0+ (1,0) [0|2047] "ms"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseSystemOKV : 3|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 849 F_Vision_Environment_2: 8 VIS_FO
+ SG_ LnSnsLatVRelToRgtMrkg : 23|8@0- (0.02,0) [-2.56|2.54] "m/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
+ SG_ LnSnsRtLnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsCrvtGrdntRtV : 63|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnMrkgWdthRt : 62|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsRtAnchrLn : 57|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLtAnchrLn : 56|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnCrvtrRghtV : 0|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnCrvtrRght : 47|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsCrvtGrdntRt : 31|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/rad/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBurstID : 2|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLatVRelToLftMrkg : 15|8@0- (0.02,0) [-2.56|2.54] "m/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 1056 F_Vision_Obj_Header: 6 VIS_FO
+ SG_ FVsnSnsrBlckd : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ ClstInPathVehObjID : 30|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FrtVsnFld : 6|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnIniDiagSuccCmpt : 5|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnSrvAlgnInPrcs : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnUnvlbl : 7|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisionRollingCnt : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVISModeCmdFdbk : 4|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FVisionNumValidTrgts : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FVisionTimeStampV : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisionTimeStamp : 10|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
+ SG_ VISBurstChecksum : 39|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
+
+BO_ 1057 F_Vision_Obj_Track_1: 8 VIS_FO
+ SG_ FwdVsnRngTrk1Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk1Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr1Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk1 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FVisBurstIDTrk1 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk1 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk1 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk1 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk1 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk1 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ ObjDirTrk1 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+
+BO_ 1058 F_Vision_Obj_Track_2: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk2 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk2Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk2Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ ObjDirTrk2 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FwdVsnObjTypTr2Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk2 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk2 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk2 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk2 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk2 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk2 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1059 F_Vision_Obj_Track_3: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk3 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk3Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk3Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr3Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk3 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk3 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk3 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk3 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk3 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk3 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk3 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1060 F_Vision_Obj_Track_4: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk4 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FVisionMeasStatTrk4 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk4 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ FwdVsnRngTrk4Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk4Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr4Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk4 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk4 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ ObjDirTrk4 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisionConfTrk4 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk4 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1061 F_Vision_Obj_Track_5: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk5 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk5Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk5Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr5Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk5 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk5 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk5 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk5 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk5 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk5 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk5 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1062 F_Vision_Obj_Track_6: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk6 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk6Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk6Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr6Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk6 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk6 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk6 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk6 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk6 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk6 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk6 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1089 F_Vision_Obj_Track_7: 8 VIS2_FO
+ SG_ FVisBurstIDTrk7 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk7 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk7 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk7 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk7 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk7 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ FwdVsnRngTrk7Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr7Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk7Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk7 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ ObjDirTrk7 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+
+BO_ 1090 F_Vision_Obj_Track_8: 8 VIS2_FO
+ SG_ FVisBurstIDTrk8 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk8 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk8Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk8 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk8Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr8Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk8 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisionConfTrk8 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk8 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk8 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk8 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1091 F_Vision_Obj_Track_9: 8 VIS2_FO
+ SG_ FwdVsnVertPosTrk9 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk9Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk9Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr9Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk9 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk9 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk9 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk9 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk9 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk9 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk9 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk9 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1092 F_Vision_Obj_Track_10: 8 VIS2_FO
+ SG_ FwdVsnRngTrk10Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk10Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr10Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk10 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ ObjDirTrk10 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk10 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk10 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk10 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk10 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk10 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk10 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk10 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 851 F_Vision_Environment_4: 8 VIS_FO
+ SG_ LnMrkg3LnPrvwDst : 45|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTtlNmLnMrkgDetRt : 4|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsRtLinCrsTm : 25|5@0+ (0.1,0) [0|3.1] "s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsNumPrlLnsDetRt : 33|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsNumPrlLnsDetLt : 36|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsCrvtGrdntLftV : 31|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLtLinCrsTm : 30|5@0+ (0.1,0) [0|3.1] "s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnPrvwDst : 50|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnMrkgTypChgDst : 40|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnMrkgWdth : 62|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnMarkrElvtd : 51|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4AnchrLnLin : 57|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnMrkgWdth : 41|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnMarkrElvtd : 46|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3AnchrLnLin : 52|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBurstID2 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsCrvtGrdntLft : 15|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/rad/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+ BO_ 850 F_Vision_Environment_3: 8 VIS_FO
+ SG_ LnSnsTtlNmLnMrkgDetLt : 58|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLtLnMrkgWdth : 63|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLtLnMrkgTypChgDst : 62|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTngtOfHdngLnLftV : 23|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTngtOfHdngLnLft : 31|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnCrvtrLftV : 15|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnCrvtrLft : 39|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkrTypRght : 50|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkrTypLft : 53|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkrElvtdRght : 54|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkrElvtdLft : 55|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBurstID1 : 7|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnQltyCnfdncLvlRght : 22|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnQltyCnfdncLvlLft : 14|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnPrvwDstncRght : 2|3@0+ (10,0) [0|70] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnPrvwDstncLft : 5|3@0+ (10,0) [0|70] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
 
 BO_TX_BU_ 161 : K124_ASCM,NEO;
 BO_TX_BU_ 774 : K124_ASCM,NEO;
@@ -265,9 +704,11 @@ BO_TX_BU_ 784 : K124_ASCM,NEO;
 BO_TX_BU_ 776 : K124_ASCM,NEO;
 
 
-CM_ BU_ K109_FCM "Frontview Camera Module ";
+CM_ BU_ K109_FCM "Frontview Camera Module";
 CM_ BU_ B233B_LRR "Radar Sensor Module Long Range";
 CM_ BU_ NEO "Comma NEO";
+CM_ BU_ VIS_FO "Front Camera Data";
+CM_ BU_ VIS2_FO "Front Camera Data2";
 CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider.";
 BA_DEF_  "UseGMParameterIDs" INT 0 0;
@@ -279,6 +720,5 @@ BA_DEF_DEF_  "BusType" "";
 BA_ "BusType" "CAN";
 BA_ "ProtocolType" "GMLAN";
 BA_ "UseGMParameterIDs" 0;
-VAL_ 776 NearRangeMode 1 "Active" 0 "Inactive" ;
-VAL_ 776 FarRangeMode 1 "Active" 0 "Inactive" ;
-
+VAL_ 776 NearRangeMode 1 "Active" 0 "Inactive";
+VAL_ 776 FarRangeMode 1 "Active" 0 "Inactive";

opendbc/gm_global_a_powertrain.dbc

@@ -66,9 +66,11 @@ BO_ 190 ECMAcceleratorPos: 6 K20_ECM
  SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] ""  NEO
 
 BO_ 201 ECMEngineStatus: 8 K20_ECM
- SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%"  NEO
- SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM"  NEO
- SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] ""  NEO
+ SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
+ SG_ EngineRPM : 13|14@0+ (0.25,0) [0|0] "RPM" NEO
+ SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
+ SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
 
 BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
  SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] ""  NEO
@@ -107,11 +109,12 @@ BO_ 384 ASCMLKASteeringCmd: 4 NEO
  SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] ""  NEO
 
 BO_ 388 PSCMStatus: 8 K43_PSCM
- SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] ""  NEO
- SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] ""  NEO
- SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] ""  NEO
- SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
- SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
+ SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO
+ SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO
+ SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO
+ SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
+ SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
+ SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
 
 BO_ 417 AcceleratorPedal: 8 XXX
  SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
@@ -134,9 +137,10 @@ BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
  SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
 
 BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
- SG_ YawRate : 51|12@0- (0.0625,0) [-2047|2047] "grad/s"  NEO
- SG_ LateralAcceleration : 3|12@0- (0.0161,0) [-2047|2047] "m/s2"  NEO
- SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] ""  NEO
+ SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
+ SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO
+ SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
+ SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
 
 BO_ 560 EPBStatus: 8 EPB
  SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO
@@ -253,4 +257,3 @@ 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" ;
-

opendbc/honda_accord_touring_2016_can.dbc

@@ -86,10 +86,13 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
 
 BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -273,14 +282,6 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" 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|3] "" 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

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -258,12 +267,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -268,14 +277,6 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" 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|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -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_insight_ex_2019_can.dbc starts here"
 
 

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -260,15 +269,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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|3] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 450 EPB_STATUS: 8 XXX
  SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX

opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc

@@ -231,6 +231,9 @@ BO_ 404 STEERING_CONTROL: 4 EON
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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
 

opendbc/honda_pilot_touring_2017_can_generated.dbc

@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -268,12 +277,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc

@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ 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_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -263,12 +272,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|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|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON

opendbc/hyundai_kia_generic.dbc

@@ -692,6 +692,7 @@ BO_ 1365 FPCM11: 8 FPCM
  SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
 
 BO_ 871 LVR12: 8 LVR
+ SG_ CF_Lvr_CruiseSet : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,TCU
  SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,TCU
 
 BO_ 872 LVR11: 8 LVR
@@ -896,11 +897,11 @@ BO_ 67 DATC13: 8 DATC
 
 BO_ 66 DATC12: 8 DATC
  SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "¢µ"  CLU,IBOX
+ SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "deg"  CLU,IBOX
  SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "¢µ"  CLU,IBOX
+ SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "deg"  CLU,IBOX
  SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU
- SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "¢µ"  CLU
+ SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "deg"  CLU
  SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 
 BO_ 1345 CGW1: 8 BCM
@@ -980,6 +981,8 @@ BO_ 832 LKAS11: 8 LDWS_LKAS
  SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
  SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
  SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,MDPS
+ SG_ CF_Lkas_Unknown1 : 47|1@1+ (1,0) [0|3] "" XXX
+ SG_ CF_Lkas_Unknown2 : 63|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1342 LKAS12: 6 LDWS_LKAS
  SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU

opendbc/lexus_is_2018_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -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
@@ -87,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -95,6 +103,12 @@ BO_ 466 PCM_CRUISE: 8 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
@@ -129,26 +143,15 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -184,6 +187,9 @@ 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
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
@@ -225,34 +231,65 @@ BO_ 1162 RSA2: 8 FCM
  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";
-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" ;
+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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+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";
 

opendbc/lexus_rx_hybrid_2017_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
@@ -312,7 +318,9 @@ BO_ 610 EPS_STATUS: 5 EPS
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" 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";
@@ -321,3 +329,5 @@ CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";

opendbc/subaru_outback_2015_eyesight.dbc

@@ -0,0 +1,370 @@
+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 0
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|4@0- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_6 : 24|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 22|3@0+ (1,0) [0|7] "" XXX
+ SG_ Steering_Angle : 7|16@0- (-0.1,-9) [-497|500] "degree" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ _Latitudinal : 16|16@1- (0.0035,1) [0|65535] "" XXX
+ SG_ _Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ NEW_SIGNAL_2 : 31|1@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 26|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 46|1@0+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|3@0+ (1,0) [0|7] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ NEW_SIGNAL_4 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 7|1@0+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ Speed_Counter : 39|8@0+ (1,0) [0|15] "" XXX
+ SG_ Counter : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 21|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_Cruise_On : 42|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal_On : 46|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 212 WHEEL_SPEEDS: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
+ SG_ Off_Throttle : 30|1@0+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Cruise : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body_ : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|15] "" XXX
+ SG_ Not_Full_Throttle : 14|1@0+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+
+BO_ 321 undefined: 8 XXX
+ SG_ NEW_SIGNAL_7 : 59|2@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_6 : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|1@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 54|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 324 CruiseControl_2015: 8 XXX
+ SG_ Cruise_On : 48|1@0+ (1,0) [0|3] "" XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
+ SG_ SET_BUTTON : 3|1@0+ (1,0) [0|3] "" XXX
+ SG_ RES_BUTTON : 4|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_6 : 50|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 28|5@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_9 : 15|1@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 49|1@0+ (1,0) [0|7] "" XXX
+ SG_ Brake_Pedal_On : 51|1@0+ (1,0) [0|3] "" XXX
+ SG_ Button : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,-124) [0|255] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Counter : 11|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|1@0+ (1,0) [0|3] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 43|1@0+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 11|4@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure_Left : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Wiper : 62|1@0+ (1,0) [0|3] "" XXX
+ SG_ brake_light : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ Headlights : 59|1@0+ (1,0) [0|3] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 60|1@0+ (1,0) [0|3] "" XXX
+ SG_ Counter : 15|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 342 NEW_MSG_2: 8 XXX
+
+BO_ 346 Counter_3: 8 XXX
+ SG_ Counter : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 20|1@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 57|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 20|1@0+ (1,0) [0|2047] "" XXX
+ SG_ Cruise_Activated : 23|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ Counter_1 : 46|3@0+ (1,0) [0|15] "" XXX
+ SG_ Wheel_stop : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ CloseDistance : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Unknown : 18|1@1+ (1,0) [0|7] "" XXX
+ SG_ Button_Speed_Down : 49|1@1+ (1,0) [0|3] "" XXX
+ SG_ Button_Resume : 50|1@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3_Blank : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2_Blank : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_9 : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activatedish : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_6_Blank : 23|1@0+ (1,0) [0|7] "" XXX
+ SG_ DistanceSwap : 21|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_On : 20|1@0+ (1,0) [0|7] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 9|1@0+ (1,0) [0|3] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|65535] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Output : 8|13@1- (-1,0) [0|127] "" XXX
+
+BO_ 358 ES_Status: 8 XXX
+ SG_ Counter : 39|3@0+ (1,0) [0|7] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Obstacle_Distance : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Off : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ Saved_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|255] "" XXX
+ SG_ Driver_Input : 20|1@0+ (1,0) [0|15] "" XXX
+ SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|3] "" XXX
+ SG_ Untitled_Blank : 18|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_6_Blank : 21|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4_Blank : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 35|1@0+ (1,0) [0|31] "" XXX
+ SG_ 3SecondDisengage : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ Steep_Hill_Disengage : 44|1@0+ (1,0) [0|3] "" XXX
+ SG_ Disengage_Alert : 15|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ 2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
+ SG_ 2All_Depart : 28|1@0+ (1,0) [0|3] "" XXX
+ SG_ 3All_Depart : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ Left_Depart_Front : 51|1@0+ (1,0) [0|3] "" XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Steer_Active_2017 : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
+ SG_ 1All_Depart : 31|1@0+ (1,0) [0|15] "" XXX
+ SG_ 1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
+ SG_ 1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 392 Counter_0: 8 XXX
+ SG_ Counter : 16|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 554 NEW_MSG_3: 8 XXX
+ SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
+
+BO_ 604 undefined: 8 XXX
+
+BO_ 640 NEW_MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 54|2@0+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 34|2@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_6 : 0|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_7 : 38|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ NEW_SIGNAL_2 : 32|1@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 34|2@1+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLINKER : 44|1@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 644 NEW_MSG_8: 8 XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 805 undefined: 8 XXX
+
+BO_ 880 Steer_Torque_2: 8 XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 48|4@1- (1,0) [0|15] "" XXX
+ SG_ Steering_Voltage_Flat : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 30|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4_2017 : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5_2017 : 54|1@0+ (1,0) [0|3] "" XXX
+ SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.026,0) [0|255] "" XXX
+ SG_ Steering_Motor_LeftRight : 23|16@0- (-0.13,0) [0|255] "" XXX
+
+BO_ 882 Counter: 8 XXX
+ SG_ Counter : 15|4@0+ (1,0) [0|31] "" XXX
+ SG_ Something : 16|2@1+ (1,0) [0|255] "" XXX
+
+BO_ 884 DOORS_STATUS: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 886 undefined: 8 XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+
+BO_ 865 NEW_MSG_16: 8 XXX
+ SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 12|1@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel__: 8 XXX
+ SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_3 : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|32767] "" XXX
+
+BO_ 872 NEW_MSG_15: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|65535] "" XXX
+
+BO_ 977 NEW_MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|12@1+ (1,0) [0|255] "" XXX
+
+BO_ 1632 Huge_Counter: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1745 NEW_MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 24|6@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 40|6@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 0|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1786 NEW_MSG_9: 8 XXX
+ SG_ Counter : 3|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|16@1+ (1,0) [0|15] "" XXX
+
+
+
+
+CM_ SG_ 2 NEW_SIGNAL_1 "";
+CM_ SG_ 211 Brake_Pedal_On "high tolerance";
+CM_ SG_ 212 FL "KPH";
+CM_ SG_ 212 RL "KPH";
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body_ "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 338 Wiper "0 off, 1 on";
+CM_ SG_ 353 NEW_SIGNAL_3_Blank "always 2";
+CM_ SG_ 353 NEW_SIGNAL_2_Blank "0";
+CM_ SG_ 353 NEW_SIGNAL_9 "flipped around quick engagement";
+CM_ SG_ 353 NEW_SIGNAL_6_Blank "always 1";
+CM_ SG_ 353 Brake_On "long activatedish";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
+CM_ SG_ 358 Car_Follow "front car detected";
+CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 359 2All_Depart "Left and right depart";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 1All_Depart "Left and right depart";
+CM_ SG_ 359 1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+CM_ SG_ 880 NEW_SIGNAL_1 "0 in 2017";
+CM_ SG_ 880 NEW_SIGNAL_2 "";
+CM_ SG_ 880 NEW_SIGNAL_4_2017 "1 in 2017";
+CM_ SG_ 880 NEW_SIGNAL_5_2017 "1 in 2017";
+CM_ SG_ 881 Steering_Motor_Flat "Possibly motor voltage";
+CM_ SG_ 881 Steering_Angle "Missing extra larger bits";

opendbc/toyota_avalon_2017_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

opendbc/toyota_camry_hybrid_2018_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

opendbc/toyota_chr_2018_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
@@ -313,11 +319,15 @@ BO_ 610 EPS_STATUS: 8 EPS
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
 
 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 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";
-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";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";

opendbc/toyota_chr_hybrid_2018_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

opendbc/toyota_corolla_2017_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

opendbc/toyota_highlander_2017_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

opendbc/toyota_prius_2017_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

opendbc/toyota_rav4_2017_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc

@@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
   SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
   SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
 
@@ -76,7 +76,7 @@ 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
@@ -92,6 +92,9 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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
@@ -140,7 +143,10 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -180,7 +186,7 @@ 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
 
@@ -224,7 +230,7 @@ BO_ 1162 RSA2: 8 FCM
  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
@@ -274,15 +280,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 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_ 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" 0 "none";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
 
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
@@ -312,7 +318,14 @@ BO_ 610 EPS_STATUS: 5 EPS
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" 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";
@@ -320,4 +333,9 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
+VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";

opendbc/toyota_sienna_xle_2018_pt_generated.dbc

@@ -0,0 +1,329 @@
+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+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [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+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [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_ 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
+
+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_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "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_ 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
+
+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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ 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_ 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_ 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
+ 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
+
+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_ 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_ 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";
+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_ 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 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+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";
+
+CM_ "toyota_sienna_xle_2018_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|65535] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|3] "" 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
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 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";
+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"

panda/.circleci/config.yml

@@ -29,9 +29,13 @@ jobs:
           command: |
             docker run panda_build /bin/bash -c "cd /panda/board; make bin"
       - run:
-          name: Build Pedal STM image
+          name: Build Honda Pedal STM image
           command: |
-            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
+            docker run panda_build /bin/bash -c "cd /panda/board/pedal_honda; make obj/comma.bin"
+      - run:
+          name: Build Toyota Pedal STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board/pedal_toyota; make obj/comma.bin"
       - run:
           name: Build NEO STM image
           command: |

panda/README.md

@@ -3,7 +3,7 @@ Welcome to panda
 
 [panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
 
-<a href="https://www.amazon.com/chffr-panda-OBD-II-Interface/dp/B07D6Y3GN2/"><img src="https://github.com/commaai/panda/blob/master/panda.png">
+<a href="https://comma.ai/shop/products/panda-obd-ii-dongle"><img src="https://github.com/commaai/panda/blob/master/panda.png">
 
 <img src="https://github.com/commaai/panda/blob/master/buy.png"></a>
 

panda/VERSION

@@ -1 +1 @@
-v1.1.8
+v1.2.0

panda/board/bootstub.c

@@ -51,6 +51,9 @@ void fail() {
 // know where to sig check
 extern void *_app_start[];
 
+// FIXME: sometimes your panda will fail flashing and will quickly blink a single Green LED
+// BOUNTY: $200 coupon on shop.comma.ai or $100 check.
+
 int main() {
   __disable_irq();
   clock_init();

panda/board/build.mk

@@ -1,4 +1,4 @@
-CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O2
+CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os
 
 CFLAGS += -Tstm32_flash.ld
 
@@ -51,6 +51,8 @@ obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
 	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
 	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
 	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
+	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
+
 
 obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
 	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^

panda/board/main.c

@@ -559,6 +559,7 @@ int main() {
   usb_init();
 
   // default to silent mode to prevent issues with Ford
+  // hardcode a specific safety mode if you want to force the panda to be in a specific mode
   safety_set_mode(SAFETY_NOOUTPUT, 0);
   can_silent = ALL_CAN_SILENT;
   can_init_all();

panda/board/pedal_toyota/.gitignore

@@ -0,0 +1 @@
+obj/*

panda/board/pedal_toyota/Makefile

@@ -0,0 +1,58 @@
+# :set noet
+PROJ_NAME = comma
+
+CFLAGS  = -O2 -Wall -std=gnu11 -DPEDAL
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
+CFLAGS += -T../stm32_flash.ld
+
+STARTUP_FILE = startup_stm32f205xx
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+DFU_UTIL = "dfu-util"
+
+# pedal only uses the debug cert
+CERT = ../../certs/debug
+CFLAGS += "-DALLOW_DEBUG"
+
+canflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py $<
+
+usbflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py; sleep 0.5
+	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
+
+recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py --recover; sleep 0.5
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
+
+obj/main.o: main.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/bootstub.o: ../bootstub.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/%.o: ../../crypto/%.c
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
+	SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
+
+obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
+	
+clean:
+	rm -f obj/*

panda/board/pedal_toyota/README

@@ -0,0 +1,30 @@
+MOVE ALL FILES TO board/pedal TO FLASH
+
+
+This is the firmware for the comma pedal. It borrows a lot from panda.
+
+The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
+
+This is the open source software. Note that it is not ready to use yet.
+
+== Test Plan ==
+
+* Startup
+** Confirm STATE_FAULT_STARTUP
+* Timeout
+** Send value
+** Confirm value is output
+** Stop sending messages
+** Confirm value is passthru after 100ms
+** Confirm STATE_FAULT_TIMEOUT
+* Random values
+** Send random 6 byte messages
+** Confirm random values cause passthru
+** Confirm STATE_FAULT_BAD_CHECKSUM
+* Same message lockout
+** Send same message repeated
+** Confirm timeout behavior
+* Don't set enable
+** Confirm no output
+* Set enable and values
+** Confirm output

panda/board/pedal_toyota/main.c

@@ -0,0 +1,291 @@
+//#define DEBUG
+//#define CAN_LOOPBACK_MODE
+//#define USE_INTERNAL_OSC
+
+#include "../config.h"
+
+#include "drivers/drivers.h"
+#include "drivers/llgpio.h"
+#include "gpio.h"
+
+#define CUSTOM_CAN_INTERRUPTS
+
+#include "libc.h"
+#include "safety.h"
+#include "drivers/adc.h"
+#include "drivers/uart.h"
+#include "drivers/dac.h"
+#include "drivers/can.h"
+#include "drivers/timer.h"
+
+#define CAN CAN1
+
+//#define PEDAL_USB
+
+#ifdef PEDAL_USB
+  #include "drivers/usb.h"
+#endif
+
+#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
+uint32_t enter_bootloader_mode;
+
+void __initialize_hardware_early() {
+  early();
+}
+
+// ********************* serial debugging *********************
+
+void debug_ring_callback(uart_ring *ring) {
+  char rcv;
+  while (getc(ring, &rcv)) {
+    putc(ring, rcv);
+  }
+}
+
+#ifdef PEDAL_USB
+
+int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
+void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
+void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
+void usb_cb_enumeration_complete() {}
+
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
+  int resp_len = 0;
+  uart_ring *ur = NULL;
+  switch (setup->b.bRequest) {
+    // **** 0xe0: uart read
+    case 0xe0:
+      ur = get_ring_by_number(setup->b.wValue.w);
+      if (!ur) break;
+      if (ur == &esp_ring) uart_dma_drain();
+      // read
+      while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
+                         getc(ur, (char*)&resp[resp_len])) {
+        ++resp_len;
+      }
+      break;
+  }
+  return resp_len;
+}
+
+#endif
+
+// ***************************** toyota can checksum ****************************
+
+int can_cksum(uint8_t *dat, uint8_t len, uint16_t addr)
+{
+	uint8_t checksum = 0;
+	checksum =((addr & 0xFF00) >> 8) + (addr & 0x00FF) + len + 1;
+	//uint16_t temp_msg = msg;
+	
+	for (int ii = 0; ii < len; ii++)
+	{
+		checksum += (dat[ii]);
+		//temp_msg = temp_msg >> 8;
+	}
+	//return ((msg & ~0xFF) & (checksum & 0xFF));
+	return checksum;
+}
+
+// ***************************** can port *****************************
+
+// addresses to be used on CAN
+#define CAN_GAS_INPUT  0x200
+#define CAN_GAS_OUTPUT 0x201
+
+void CAN1_TX_IRQHandler() {
+  // clear interrupt
+  CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+// two independent values
+uint16_t gas_set_0 = 0;
+uint16_t gas_set_1 = 0;
+
+#define MAX_TIMEOUT 10
+uint32_t timeout = 0;
+
+#define NO_FAULT 0
+#define FAULT_BAD_CHECKSUM 1
+#define FAULT_SEND 2
+#define FAULT_SCE 3
+#define FAULT_STARTUP 4
+#define FAULT_TIMEOUT 5
+#define FAULT_INVALID 6
+uint8_t state = FAULT_STARTUP;
+
+void CAN1_RX0_IRQHandler() {
+  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    #ifdef DEBUG
+      puts("CAN RX\n");
+    #endif
+    uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
+    if (address == CAN_GAS_INPUT) {
+      // softloader entry
+      if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
+        if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
+          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+          NVIC_SystemReset();
+        } else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
+          enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+          NVIC_SystemReset();
+        }
+      }
+
+      // normal packet
+      uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
+      uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
+      uint16_t value_0 = (dat[0] << 8) | dat[1];
+      uint16_t value_1 = (dat[2] << 8) | dat[3];
+      uint8_t enable = (dat2[0] >> 7) & 1;
+      uint8_t index = 0;
+      if (can_cksum(dat, 5, CAN_GAS_INPUT) == dat2[1]) {
+        if (index == 0) {
+          #ifdef DEBUG
+            puts("setting gas ");
+            puth(value);
+            puts("\n");
+          #endif
+          if (enable) {
+            gas_set_0 = value_0;
+            gas_set_1 = value_1;
+          } else {
+            // clear the fault state if values are 0
+            if (value_0 == 0 && value_1 == 0) {
+              state = NO_FAULT;
+            } else {
+              state = FAULT_INVALID;
+            }
+            gas_set_0 = gas_set_1 = 0;
+          }
+          // clear the timeout
+          timeout = 0;
+        }
+
+      } else {
+        // wrong checksum = fault
+        state = FAULT_BAD_CHECKSUM;
+      }
+    }
+    // next
+    CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_SCE_IRQHandler() {
+  state = FAULT_SCE;
+  can_sce(CAN);
+}
+
+int pdl0 = 0, pdl1 = 0;
+
+
+int led_value = 0;
+
+void TIM3_IRQHandler() {
+  #ifdef DEBUG
+    puth(TIM3->CNT);
+    puts(" ");
+    puth(pdl0);
+    puts(" ");
+    puth(pdl1);
+    puts("\n");
+  #endif
+
+  // check timer for sending the user pedal and clearing the CAN
+  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+    uint8_t dat[8];
+    dat[0] = (pdl0>>8)&0xFF;
+    dat[1] = (pdl0>>0)&0xFF;
+    dat[2] = (pdl1>>8)&0xFF;
+    dat[3] = (pdl1>>0)&0xFF;
+    dat[4] = state;
+    dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT);
+    CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
+    CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
+    CAN->sTxMailBox[0].TDTR = 6;  // len of packet is 5
+    CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
+  } else {
+    // old can packet hasn't sent!
+    state = FAULT_SEND;
+    #ifdef DEBUG
+      puts("CAN MISS\n");
+    #endif
+  }
+
+  // blink the LED
+  set_led(LED_GREEN, led_value);
+  led_value = !led_value;
+
+  TIM3->SR = 0;
+
+  // up timeout for gas set
+  if (timeout == MAX_TIMEOUT) {
+    state = FAULT_TIMEOUT;
+  } else {
+    timeout += 1;
+  }
+}
+
+// ***************************** main code *****************************
+
+void pedal() {
+  // read/write
+  pdl0 = adc_get(ADCCHAN_ACCEL0);
+  pdl1 = adc_get(ADCCHAN_ACCEL1);
+
+  // write the pedal to the DAC
+  if (state == NO_FAULT) {
+    dac_set(0, max(gas_set_0, pdl0));
+    dac_set(1, max(gas_set_1, pdl1));
+  } else {
+    dac_set(0, pdl0);
+    dac_set(1, pdl1);
+  }
+
+  // feed the watchdog
+  IWDG->KR = 0xAAAA;
+}
+
+int main() {
+  __disable_irq();
+
+  // init devices
+  clock_init();
+  periph_init();
+  gpio_init();
+
+#ifdef PEDAL_USB
+  // enable USB
+  usb_init();
+#endif
+
+  // pedal stuff
+  dac_init();
+  adc_init();
+
+  // init can
+  can_silent = ALL_CAN_LIVE;
+  can_init(0);
+
+  // 48mhz / 65536 ~= 732
+  timer_init(TIM3, 15);
+  NVIC_EnableIRQ(TIM3_IRQn);
+
+  // setup watchdog
+  IWDG->KR = 0x5555;
+  IWDG->PR = 0;          // divider /4
+  // 0 = 0.125 ms, let's have a 50ms watchdog
+  IWDG->RLR = 400 - 1;
+  IWDG->KR = 0xCCCC;
+
+  puts("**** INTERRUPTS ON ****\n");
+  __enable_irq();
+
+  // main pedal loop
+  while (1) {
+    pedal();
+  }
+
+  return 0;
+}

panda/board/safety.h

@@ -57,12 +57,14 @@ int controls_allowed = 0;
 #ifdef PANDA
 #include "safety/safety_toyota_ipas.h"
 #include "safety/safety_tesla.h"
+#include "safety/safety_gm_ascm.h"
 #endif
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
 #include "safety/safety_hyundai.h"
 #include "safety/safety_chrysler.h"
+#include "safety/safety_subaru.h"
 #include "safety/safety_elm327.h"
 
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -104,6 +106,8 @@ typedef struct {
 #define SAFETY_HYUNDAI 7
 #define SAFETY_TESLA 8
 #define SAFETY_CHRYSLER 9
+#define SAFETY_SUBARU 10
+#define SAFETY_GM_ASCM 0x1334
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -119,9 +123,11 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_CADILLAC, &cadillac_hooks},
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
+  {SAFETY_SUBARU, &subaru_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
+  {SAFETY_GM_ASCM, &gm_ascm_hooks},
   {SAFETY_TESLA, &tesla_hooks},
 #endif
   {SAFETY_ALLOUTPUT, &alloutput_hooks},

panda/board/safety/safety_chrysler.h

@@ -1,20 +1,19 @@
-// board enforces
-//   in-state
-//      ACC is active (green)
-//   out-state
-//      brake pressed
-//      stock LKAS ECU is online
-//      ACC is not active (white or disabled)
+const int CHRYSLER_MAX_STEER = 261;
+const int CHRYSLER_MAX_RT_DELTA = 112;        // max delta torque allowed for real time checks
+const int32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
+const int CHRYSLER_MAX_RATE_UP = 3;
+const int CHRYSLER_MAX_RATE_DOWN = 3;
+const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
 
-// chrysler_: namespacing
-int chrysler_speed = 0;
-
-// silence everything if stock ECUs are still online
-int chrysler_lkas_detected = 0;
+int chrysler_camera_detected = 0;
+int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
+int chrysler_cruise_engaged_last = 0;
+uint32_t chrysler_ts_last = 0;
+struct sample_t chrysler_torque_meas;         // last few torques measured
 
 static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  int bus_number = (to_push->RDTR >> 4) & 0xFF;
+  int bus = (to_push->RDTR >> 4) & 0xFF;
   uint32_t addr;
   if (to_push->RIR & 4) {
     // Extended
@@ -26,40 +25,37 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     addr = to_push->RIR >> 21;
   }
 
-  if (addr == 0x144 && bus_number == 0) {
-    chrysler_speed = ((to_push->RDLR & 0xFF000000) >> 16) | (to_push->RDHR & 0xFF);
+  // Measured eps torque
+  if (addr == 544) {
+    int rdhr = to_push->RDHR;
+    int torque_meas_new = ((rdhr & 0x7) << 8) + ((rdhr & 0xFF00) >> 8) - 1024;
+
+    // update array of samples
+    update_sample(&chrysler_torque_meas, torque_meas_new);
   }
 
-  // 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) {
+  // enter controls on rising edge of ACC, exit controls on ACC off
+  if (addr == 0x1f4) {
+    int cruise_engaged = ((to_push->RDLR & 0x380000) >> 19) == 7;
+    if (cruise_engaged && !chrysler_cruise_engaged_last) {
       controls_allowed = 1;
-    } else {
+    } else if (!cruise_engaged) {
       controls_allowed = 0;
     }
+    chrysler_cruise_engaged_last = cruise_engaged;
   }
 
-  // exit controls on brake press by human
-  if (addr == 0x140) {
-    if (to_push->RDLR & 0x4) {
-      controls_allowed = 0;
-    }
+  // check if stock camera ECU is still online
+  if (bus == 0 && addr == 0x292) {
+    chrysler_camera_detected = 1;
+    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) {
+
+  // There can be only one! (camera)
+  if (chrysler_camera_detected) {
     return 0;
   }
 
@@ -72,65 +68,69 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     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.
+
+  // LKA STEER
   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;
+    int desired_torque = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - 1024;
+    uint32_t ts = TIM2->CNT;
+    int violation = 0;
+
+    if (controls_allowed) {
+
+      // *** global torque limit check ***
+      violation |= max_limit_check(desired_torque, CHRYSLER_MAX_STEER, -CHRYSLER_MAX_STEER);
+
+      // *** torque rate limit check ***
+      violation |= dist_to_meas_check(desired_torque, chrysler_desired_torque_last,
+        &chrysler_torque_meas, CHRYSLER_MAX_RATE_UP, CHRYSLER_MAX_RATE_DOWN, CHRYSLER_MAX_TORQUE_ERROR);
+
+      // used next time
+      chrysler_desired_torque_last = desired_torque;
+
+      // *** torque real time rate limit check ***
+      violation |= rt_rate_limit_check(desired_torque, chrysler_rt_torque_last, CHRYSLER_MAX_RT_DELTA);
+
+      // every RT_INTERVAL set the new limits
+      uint32_t ts_elapsed = get_ts_elapsed(ts, chrysler_ts_last);
+      if (ts_elapsed > CHRYSLER_RT_INTERVAL) {
+        chrysler_rt_torque_last = desired_torque;
+        chrysler_ts_last = ts;
       }
     }
-    if (steer < (chrysler_desired_torque_last - max_rate)) {
+
+    // no torque if controls is not allowed
+    if (!controls_allowed && (desired_torque != 0)) {
+      violation = 1;
+    }
+
+    // reset to 0 if either controls is not allowed or there's a violation
+    if (violation || !controls_allowed) {
+      chrysler_desired_torque_last = 0;
+      chrysler_rt_torque_last = 0;
+      chrysler_ts_last = ts;
+    }
+
+    if (violation) {
       return false;
     }
-    if (steer > (chrysler_desired_torque_last + max_rate)) {
-      return false;
-    }
-    
-    chrysler_desired_torque_last = steer;
   }
 
+  // FORCE CANCEL: safety check only relevant when spamming the cancel button.
+  // ensuring that only the cancel button press is sent when controls are off.
+  // This avoids unintended engagements while still allowing resume spam
+  // TODO: fix bug preventing the button msg to be fwd'd on bus 2
+
   // 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,
+  .init = nooutput_init,
   .rx = chrysler_rx_hook,
   .tx = chrysler_tx_hook,
-  .tx_lin = chrysler_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
   .ignition = default_ign_hook,
-  .fwd = chrysler_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };
-

panda/board/safety/safety_gm_ascm.h

@@ -0,0 +1,52 @@
+// BUS 0 is on the LKAS module (ASCM) side
+// BUS 2 is on the actuator (EPS) side
+
+static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+
+  uint32_t addr = to_fwd->RIR>>21;
+
+  if (bus_num == 0) {
+
+    // do not propagate lkas messages from ascm to actuators
+    // block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
+    // block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
+    //if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
+    if ((addr == 0x152) || (addr == 0x154)) {
+      int supercruise_on = (to_fwd->RDHR>>4) & 0x1;  // bit 36
+      if (!supercruise_on) return -1;
+    }
+
+    // on the chassis bus, the OBDII port is on the module side, so we need to read
+    // the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
+    // the actuator as 0x152 and 0x154
+    if (addr == 0x151) {
+      to_fwd->RIR = (0x152 << 21) | (to_fwd->RIR & 0x1fffff);
+    }
+    if (addr == 0x153) {
+      to_fwd->RIR = (0x154 << 21) | (to_fwd->RIR & 0x1fffff);
+    }
+
+    // brake
+    if (addr == 0x314) {
+      to_fwd->RIR = (0x315 << 21) | (to_fwd->RIR & 0x1fffff);
+    }
+
+    return 2;
+  }
+
+  if (bus_num == 2) {
+    return 0;
+  }
+
+  return -1;
+}
+
+const safety_hooks gm_ascm_hooks = {
+  .init = nooutput_init,
+  .rx = default_rx_hook,
+  .tx = alloutput_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = gm_ascm_fwd_hook,
+};
+

panda/board/safety/safety_hyundai.h

@@ -1,4 +1,4 @@
-const int HYUNDAI_MAX_STEER = 250;
+const int HYUNDAI_MAX_STEER = 255;             // like stock
 const int HYUNDAI_MAX_RT_DELTA = 112;          // max delta torque allowed for real time checks
 const int32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int HYUNDAI_MAX_RATE_UP = 3;

panda/board/safety/safety_subaru.h

@@ -0,0 +1,49 @@
+void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
+
+// FIXME
+// *** all output safety mode ***
+
+static void subaru_init(int16_t param) {
+  controls_allowed = 1;
+}
+
+static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  return true;
+}
+
+static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  
+  // shifts bits 29 > 11
+  int32_t addr = to_fwd->RIR >> 21;
+
+  // forward CAN 0 > 1
+  if (bus_num == 0) {
+    return 1; // ES CAN
+  }
+  // forward CAN 1 > 0, except ES_LKAS
+  else if (bus_num == 1) {
+    
+    // outback 2015
+    if (addr == 0x164) {
+      return -1;
+    }
+    // global platform
+    if (addr == 0x122) {
+      return -1;
+    }
+
+    return 0; // Main CAN
+  }
+
+  // fallback to do not forward
+  return -1;
+}
+
+const safety_hooks subaru_hooks = {
+  .init = subaru_init,
+  .rx = subaru_rx_hook,
+  .tx = subaru_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = subaru_fwd_hook,
+};

panda/board/safety/safety_tesla.h

@@ -258,7 +258,7 @@ static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd)
     // remove EPB_epasControl
     if (addr == 0x214)
     {
-      return false;
+      return -1;
     }
 
     return 2; // Custom EPAS bus
@@ -269,12 +269,12 @@ static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd)
     // remove GTW_epasControl in forwards
     if (addr == 0x101)
     {
-      return false;
+      return -1;
     }
 
     return 0; // Chassis CAN
   }
-  return false;
+  return -1;
 }
 
 const safety_hooks tesla_hooks = {

panda/crypto/sha.c

@@ -127,10 +127,36 @@ const uint8_t* SHA_final(SHA_CTX* ctx) {
     while ((ctx->count & 63) != 56) {
         SHA_update(ctx, (uint8_t*)"\0", 1);
     }
-    for (i = 0; i < 8; ++i) {
-        uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8));
-        SHA_update(ctx, &tmp, 1);
-    }
+
+    /* Hack - right shift operator with non const argument requires
+     *        libgcc.a which is missing in EON
+     *        thus expanding for loop from 
+
+              for (i = 0; i < 8; ++i) {
+                  uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8));
+                  SHA_update(ctx, &tmp, 1);
+              }
+
+              to
+     */
+
+    uint8_t tmp = 0;
+    tmp = (uint8_t) (cnt >> ((7 - 0) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 1) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 2) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 3) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 4) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 5) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 6) * 8));
+    SHA_update(ctx, &tmp, 1);
+    tmp = (uint8_t) (cnt >> ((7 - 7) * 8));
+    SHA_update(ctx, &tmp, 1);
 
     for (i = 0; i < 5; i++) {
         uint32_t tmp = ctx->state[i];

panda/python/__init__.py

@@ -8,6 +8,7 @@ import usb1
 import os
 import time
 import traceback
+import subprocess
 from dfu import PandaDFU
 from esptool import ESPROM, CesantaFlasher
 from flash_release import flash_release
@@ -25,7 +26,13 @@ DEBUG = os.getenv("PANDADEBUG") is not None
 
 def build_st(target, mkfile="Makefile"):
   from panda import BASEDIR
-  assert(os.system('cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)) == 0)
+  cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
+  try:
+    output = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
+  except subprocess.CalledProcessError as exception:
+    output = exception.output
+    returncode = exception.returncode
+    raise
 
 def parse_can_buffer(dat):
   ret = []
@@ -541,4 +548,3 @@ class Panda(object):
     msg = self.kline_ll_recv(2, bus=bus)
     msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus)
     return msg
-

panda/tests/safety/libpandasafety_py.py

@@ -42,10 +42,13 @@ void set_toyota_torque_meas(int min, int max);
 void set_cadillac_torque_driver(int min, int max);
 void set_gm_torque_driver(int min, int max);
 void set_hyundai_torque_driver(int min, int max);
+void set_chrysler_torque_meas(int min, int max);
 void set_toyota_rt_torque_last(int t);
 void set_toyota_desired_torque_last(int t);
 int get_toyota_torque_meas_min(void);
 int get_toyota_torque_meas_max(void);
+int get_chrysler_torque_meas_min(void);
+int get_chrysler_torque_meas_max(void);
 
 void init_tests_honda(void);
 int get_ego_speed(void);
@@ -84,8 +87,9 @@ 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);
+void set_chrysler_rt_torque_last(int t);
+
 
 """)
 

panda/tests/safety/test.c

@@ -26,6 +26,7 @@ struct sample_t toyota_torque_meas;
 struct sample_t cadillac_torque_driver;
 struct sample_t gm_torque_driver;
 struct sample_t hyundai_torque_driver;
+struct sample_t chrysler_torque_driver;
 
 TIM_TypeDef timer;
 TIM_TypeDef *TIM2 = &timer;
@@ -81,6 +82,19 @@ void set_hyundai_torque_driver(int min, int max){
   hyundai_torque_driver.max = max;
 }
 
+void set_chrysler_torque_meas(int min, int max){
+  chrysler_torque_meas.min = min;
+  chrysler_torque_meas.max = max;
+}
+
+int get_chrysler_torque_meas_min(void){
+  return chrysler_torque_meas.min;
+}
+
+int get_chrysler_torque_meas_max(void){
+  return chrysler_torque_meas.max;
+}
+
 int get_toyota_torque_meas_min(void){
   return toyota_torque_meas.min;
 }
@@ -105,6 +119,10 @@ void set_hyundai_rt_torque_last(int t){
   hyundai_rt_torque_last = t;
 }
 
+void set_chrysler_rt_torque_last(int t){
+  chrysler_rt_torque_last = t;
+}
+
 void set_toyota_desired_torque_last(int t){
   toyota_desired_torque_last = t;
 }
@@ -181,6 +199,15 @@ void init_tests_hyundai(void){
   set_timer(0);
 }
 
+void init_tests_chrysler(void){
+  chrysler_torque_driver.min = 0;
+  chrysler_torque_driver.max = 0;
+  chrysler_desired_torque_last = 0;
+  chrysler_rt_torque_last = 0;
+  chrysler_ts_last = 0;
+  set_timer(0);
+}
+
 void init_tests_honda(void){
   ego_speed = 0;
   gas_interceptor_detected = 0;
@@ -188,11 +215,6 @@ 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){
 }
 

panda/tests/safety/test_chrysler.py

@@ -3,86 +3,169 @@ import unittest
 import numpy as np
 import libpandasafety_py
 
+MAX_RATE_UP = 3
+MAX_RATE_DOWN = 3
+MAX_STEER = 261
+
+MAX_RT_DELTA = 112
+RT_INTERVAL = 250000
+
+MAX_TORQUE_ERROR = 80
+
+def twos_comp(val, bits):
+  if val >= 0:
+    return val
+  else:
+    return (2**bits) + val
+
+def sign(a):
+  if a > 0:
+    return 1
+  else:
+    return -1
 
 class TestChryslerSafety(unittest.TestCase):
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.chrysler_init(0)
+    cls.safety.nooutput_init(0)
     cls.safety.init_tests_chrysler()
 
-  def _acc_msg(self, active):
+  def _button_msg(self, buttons):
     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
+    to_send[0].RIR = 1265 << 21
+    to_send[0].RDLR = buttons
     return to_send
 
-  def _steer_msg(self, angle):
+  def _set_prev_torque(self, t):
+    self.safety.set_chrysler_desired_torque_last(t)
+    self.safety.set_chrysler_rt_torque_last(t)
+    self.safety.set_chrysler_torque_meas(t, t)
+
+  def _torque_meas_msg(self, torque):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 544 << 21
+    to_send[0].RDHR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
+    return to_send
+
+  def _torque_msg(self, torque):
     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)
+    to_send[0].RDLR = ((torque + 1024) >> 8) + (((torque + 1024) & 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_steer_safety_check(self):
+    for enabled in [0, 1]:
+      for t in range(-MAX_STEER*2, MAX_STEER*2):
+        self.safety.set_controls_allowed(enabled)
+        self._set_prev_torque(t)
+        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
+          self.assertFalse(self.safety.chrysler_tx_hook(self._torque_msg(t)))
+        else:
+          self.assertTrue(self.safety.chrysler_tx_hook(self._torque_msg(t)))
 
-  def test_disengage_on_brake(self):
+  def test_manually_enable_controls_allowed(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.safety.set_controls_allowed(0)
     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_enable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 0x1f4 << 21
+    to_push[0].RDLR = 0x380000
+
+    self.safety.chrysler_rx_hook(to_push)
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_disable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 0x1f4 << 21
+    to_push[0].RDLR = 0
 
-  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)))
+    self.safety.chrysler_rx_hook(to_push)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_non_realtime_limit_up(self):
+    self.safety.set_controls_allowed(True)
+
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.chrysler_tx_hook(self._torque_msg(MAX_RATE_UP)))
+
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
+
+  def test_non_realtime_limit_down(self):
+    self.safety.set_controls_allowed(True)
+
+    self.safety.set_chrysler_rt_torque_last(MAX_STEER)
+    torque_meas = MAX_STEER - MAX_TORQUE_ERROR - 20
+    self.safety.set_chrysler_torque_meas(torque_meas, torque_meas)
+    self.safety.set_chrysler_desired_torque_last(MAX_STEER)
+    self.assertTrue(self.safety.chrysler_tx_hook(self._torque_msg(MAX_STEER - MAX_RATE_DOWN)))
+
+    self.safety.set_chrysler_rt_torque_last(MAX_STEER)
+    self.safety.set_chrysler_torque_meas(torque_meas, torque_meas)
+    self.safety.set_chrysler_desired_torque_last(MAX_STEER)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._torque_msg(MAX_STEER - MAX_RATE_DOWN + 1)))
+
+  def test_exceed_torque_sensor(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      self._set_prev_torque(0)
+      for t in np.arange(0, MAX_TORQUE_ERROR + 2, 2):  # step needs to be smaller than MAX_TORQUE_ERROR
+        t *= sign
+        self.assertTrue(self.safety.chrysler_tx_hook(self._torque_msg(t)))
+
+      self.assertFalse(self.safety.chrysler_tx_hook(self._torque_msg(sign * (MAX_TORQUE_ERROR + 2))))
+
+  def test_realtime_limit_up(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      self.safety.init_tests_chrysler()
+      self._set_prev_torque(0)
+      for t in np.arange(0, MAX_RT_DELTA+1, 1):
+        t *= sign
+        self.safety.set_chrysler_torque_meas(t, t)
+        self.assertTrue(self.safety.chrysler_tx_hook(self._torque_msg(t)))
+      self.assertFalse(self.safety.chrysler_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+      self._set_prev_torque(0)
+      for t in np.arange(0, MAX_RT_DELTA+1, 1):
+        t *= sign
+        self.safety.set_chrysler_torque_meas(t, t)
+        self.assertTrue(self.safety.chrysler_tx_hook(self._torque_msg(t)))
+
+      # Increase timer to update rt_torque_last
+      self.safety.set_timer(RT_INTERVAL + 1)
+      self.assertTrue(self.safety.chrysler_tx_hook(self._torque_msg(sign * MAX_RT_DELTA)))
+      self.assertTrue(self.safety.chrysler_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+  def test_torque_measurements(self):
+    self.safety.chrysler_rx_hook(self._torque_meas_msg(50))
+    self.safety.chrysler_rx_hook(self._torque_meas_msg(-50))
+    self.safety.chrysler_rx_hook(self._torque_meas_msg(0))
+    self.safety.chrysler_rx_hook(self._torque_meas_msg(0))
+    self.safety.chrysler_rx_hook(self._torque_meas_msg(0))
+    self.safety.chrysler_rx_hook(self._torque_meas_msg(0))
+
+    self.assertEqual(-50, self.safety.get_chrysler_torque_meas_min())
+    self.assertEqual(50, self.safety.get_chrysler_torque_meas_max())
+
+    self.safety.chrysler_rx_hook(self._torque_meas_msg(0))
+    self.assertEqual(0, self.safety.get_chrysler_torque_meas_max())
+    self.assertEqual(-50, self.safety.get_chrysler_torque_meas_min())
+
+    self.safety.chrysler_rx_hook(self._torque_meas_msg(0))
+    self.assertEqual(0, self.safety.get_chrysler_torque_meas_max())
+    self.assertEqual(0, self.safety.get_chrysler_torque_meas_min())
+
 
 if __name__ == "__main__":
   unittest.main()

panda/tests/safety/test_hyundai.py

@@ -5,7 +5,7 @@ import libpandasafety_py
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
-MAX_STEER = 250
+MAX_STEER = 255
 
 MAX_RT_DELTA = 112
 RT_INTERVAL = 250000

phonelibs/boringssl/build.txt

@@ -0,0 +1,7 @@
+# with neos tree
+cd ~/android/system
+mka libcrypt_static libssl_static
+
+cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libcrypto_static_intermediates/libcrypto_static.a lib/
+cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libssl_static_intermediates/libssl_static.a lib/
+

phonelibs/boringssl/include/openssl/aead.h

@@ -0,0 +1,315 @@
+/* Copyright (c) 2014, Google Inc.
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
+ * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
+ * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
+ * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
+
+#ifndef OPENSSL_HEADER_AEAD_H
+#define OPENSSL_HEADER_AEAD_H
+
+#include <openssl/base.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+
+/* Authenticated Encryption with Additional Data.
+ *
+ * AEAD couples confidentiality and integrity in a single primtive. AEAD
+ * algorithms take a key and then can seal and open individual messages. Each
+ * message has a unique, per-message nonce and, optionally, additional data
+ * which is authenticated but not included in the ciphertext.
+ *
+ * The |EVP_AEAD_CTX_init| function initialises an |EVP_AEAD_CTX| structure and
+ * performs any precomputation needed to use |aead| with |key|. The length of
+ * the key, |key_len|, is given in bytes.
+ *
+ * The |tag_len| argument contains the length of the tags, in bytes, and allows
+ * for the processing of truncated authenticators. A zero value indicates that
+ * the default tag length should be used and this is defined as
+ * |EVP_AEAD_DEFAULT_TAG_LENGTH| in order to make the code clear. Using
+ * truncated tags increases an attacker's chance of creating a valid forgery.
+ * Be aware that the attacker's chance may increase more than exponentially as
+ * would naively be expected.
+ *
+ * When no longer needed, the initialised |EVP_AEAD_CTX| structure must be
+ * passed to |EVP_AEAD_CTX_cleanup|, which will deallocate any memory used.
+ *
+ * With an |EVP_AEAD_CTX| in hand, one can seal and open messages. These
+ * operations are intended to meet the standard notions of privacy and
+ * authenticity for authenticated encryption. For formal definitions see
+ * Bellare and Namprempre, "Authenticated encryption: relations among notions
+ * and analysis of the generic composition paradigm," Lecture Notes in Computer
+ * Science B<1976> (2000), 531–545,
+ * http://www-cse.ucsd.edu/~mihir/papers/oem.html.
+ *
+ * When sealing messages, a nonce must be given. The length of the nonce is
+ * fixed by the AEAD in use and is returned by |EVP_AEAD_nonce_length|. *The
+ * nonce must be unique for all messages with the same key*. This is critically
+ * important - nonce reuse may completely undermine the security of the AEAD.
+ * Nonces may be predictable and public, so long as they are unique. Uniqueness
+ * may be achieved with a simple counter or, if large enough, may be generated
+ * randomly. The nonce must be passed into the "open" operation by the receiver
+ * so must either be implicit (e.g. a counter), or must be transmitted along
+ * with the sealed message.
+ *
+ * The "seal" and "open" operations are atomic - an entire message must be
+ * encrypted or decrypted in a single call. Large messages may have to be split
+ * up in order to accomodate this. When doing so, be mindful of the need not to
+ * repeat nonces and the possibility that an attacker could duplicate, reorder
+ * or drop message chunks. For example, using a single key for a given (large)
+ * message and sealing chunks with nonces counting from zero would be secure as
+ * long as the number of chunks was securely transmitted. (Otherwise an
+ * attacker could truncate the message by dropping chunks from the end.)
+ *
+ * The number of chunks could be transmitted by prefixing it to the plaintext,
+ * for example. This also assumes that no other message would ever use the same
+ * key otherwise the rule that nonces must be unique for a given key would be
+ * violated.
+ *
+ * The "seal" and "open" operations also permit additional data to be
+ * authenticated via the |ad| parameter. This data is not included in the
+ * ciphertext and must be identical for both the "seal" and "open" call. This
+ * permits implicit context to be authenticated but may be empty if not needed.
+ *
+ * The "seal" and "open" operations may work in-place if the |out| and |in|
+ * arguments are equal. They may also be used to shift the data left inside the
+ * same buffer if |out| is less than |in|. However, |out| may not point inside
+ * the input data otherwise the input may be overwritten before it has been
+ * read. This situation will cause an error.
+ *
+ * The "seal" and "open" operations return one on success and zero on error. */
+
+
+/* AEAD algorithms. */
+
+/* EVP_aead_aes_128_gcm is AES-128 in Galois Counter Mode. */
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_gcm(void);
+
+/* EVP_aead_aes_256_gcm is AES-256 in Galois Counter Mode. */
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_gcm(void);
+
+/* EVP_aead_chacha20_poly1305 is an AEAD built from ChaCha20 and Poly1305. */
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_chacha20_poly1305(void);
+
+/* EVP_aead_aes_128_key_wrap is AES-128 Key Wrap mode. This should never be
+ * used except to interoperate with existing systems that use this mode.
+ *
+ * If the nonce is empty then the default nonce will be used, otherwise it must
+ * be eight bytes long. The input must be a multiple of eight bytes long. No
+ * additional data can be given to this mode. */
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_key_wrap(void);
+
+/* EVP_aead_aes_256_key_wrap is AES-256 in Key Wrap mode. This should never be
+ * used except to interoperate with existing systems that use this mode.
+ *
+ * See |EVP_aead_aes_128_key_wrap| for details. */
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_key_wrap(void);
+
+/* EVP_aead_aes_128_ctr_hmac_sha256 is AES-128 in CTR mode with HMAC-SHA256 for
+ * authentication. The nonce is 12 bytes; the bottom 32-bits are used as the
+ * block counter, thus the maximum plaintext size is 64GB. */
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_ctr_hmac_sha256(void);
+
+/* EVP_aead_aes_128_ctr_hmac_sha256 is AES-256 in CTR mode with HMAC-SHA256 for
+ * authentication. See |EVP_aead_aes_128_ctr_hmac_sha256| for details. */
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_ctr_hmac_sha256(void);
+
+/* EVP_has_aes_hardware returns one if we enable hardware support for fast and
+ * constant-time AES-GCM. */
+OPENSSL_EXPORT int EVP_has_aes_hardware(void);
+
+
+/* TLS-specific AEAD algorithms.
+ *
+ * These AEAD primitives do not meet the definition of generic AEADs. They are
+ * all specific to TLS and should not be used outside of that context. They must
+ * be initialized with |EVP_AEAD_CTX_init_with_direction|, are stateful, and may
+ * not be used concurrently. Any nonces are used as IVs, so they must be
+ * unpredictable. They only accept an |ad| parameter of length 11 (the standard
+ * TLS one with length omitted). */
+
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_rc4_md5_tls(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_rc4_sha1_tls(void);
+
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_cbc_sha1_tls(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_cbc_sha1_tls_implicit_iv(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_cbc_sha256_tls(void);
+
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha1_tls(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha1_tls_implicit_iv(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha256_tls(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha384_tls(void);
+
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_des_ede3_cbc_sha1_tls(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_des_ede3_cbc_sha1_tls_implicit_iv(void);
+
+
+/* SSLv3-specific AEAD algorithms.
+ *
+ * These AEAD primitives do not meet the definition of generic AEADs. They are
+ * all specific to SSLv3 and should not be used outside of that context. They
+ * must be initialized with |EVP_AEAD_CTX_init_with_direction|, are stateful,
+ * and may not be used concurrently. They only accept an |ad| parameter of
+ * length 9 (the standard TLS one with length and version omitted). */
+
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_rc4_md5_ssl3(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_rc4_sha1_ssl3(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_128_cbc_sha1_ssl3(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_aes_256_cbc_sha1_ssl3(void);
+OPENSSL_EXPORT const EVP_AEAD *EVP_aead_des_ede3_cbc_sha1_ssl3(void);
+
+
+/* Utility functions. */
+
+/* EVP_AEAD_key_length returns the length, in bytes, of the keys used by
+ * |aead|. */
+OPENSSL_EXPORT size_t EVP_AEAD_key_length(const EVP_AEAD *aead);
+
+/* EVP_AEAD_nonce_length returns the length, in bytes, of the per-message nonce
+ * for |aead|. */
+OPENSSL_EXPORT size_t EVP_AEAD_nonce_length(const EVP_AEAD *aead);
+
+/* EVP_AEAD_max_overhead returns the maximum number of additional bytes added
+ * by the act of sealing data with |aead|. */
+OPENSSL_EXPORT size_t EVP_AEAD_max_overhead(const EVP_AEAD *aead);
+
+/* EVP_AEAD_max_tag_len returns the maximum tag length when using |aead|. This
+ * is the largest value that can be passed as |tag_len| to
+ * |EVP_AEAD_CTX_init|. */
+OPENSSL_EXPORT size_t EVP_AEAD_max_tag_len(const EVP_AEAD *aead);
+
+
+/* AEAD operations. */
+
+/* An EVP_AEAD_CTX represents an AEAD algorithm configured with a specific key
+ * and message-independent IV. */
+typedef struct evp_aead_ctx_st {
+  const EVP_AEAD *aead;
+  /* aead_state is an opaque pointer to whatever state the AEAD needs to
+   * maintain. */
+  void *aead_state;
+} EVP_AEAD_CTX;
+
+/* EVP_AEAD_MAX_KEY_LENGTH contains the maximum key length used by
+ * any AEAD defined in this header. */
+#define EVP_AEAD_MAX_KEY_LENGTH 80
+
+/* EVP_AEAD_MAX_NONCE_LENGTH contains the maximum nonce length used by
+ * any AEAD defined in this header. */
+#define EVP_AEAD_MAX_NONCE_LENGTH 16
+
+/* EVP_AEAD_MAX_OVERHEAD contains the maximum overhead used by any AEAD
+ * defined in this header. */
+#define EVP_AEAD_MAX_OVERHEAD 64
+
+/* EVP_AEAD_DEFAULT_TAG_LENGTH is a magic value that can be passed to
+ * EVP_AEAD_CTX_init to indicate that the default tag length for an AEAD should
+ * be used. */
+#define EVP_AEAD_DEFAULT_TAG_LENGTH 0
+
+/* evp_aead_direction_t denotes the direction of an AEAD operation. */
+enum evp_aead_direction_t {
+  evp_aead_open,
+  evp_aead_seal,
+};
+
+/* EVP_AEAD_CTX_init initializes |ctx| for the given AEAD algorithm from |impl|.
+ * The |impl| argument may be NULL to choose the default implementation.
+ * Authentication tags may be truncated by passing a size as |tag_len|. A
+ * |tag_len| of zero indicates the default tag length and this is defined as
+ * EVP_AEAD_DEFAULT_TAG_LENGTH for readability.
+ *
+ * Returns 1 on success. Otherwise returns 0 and pushes to the error stack. In
+ * the error case, you do not need to call |EVP_AEAD_CTX_cleanup|, but it's
+ * harmless to do so. */
+OPENSSL_EXPORT int EVP_AEAD_CTX_init(EVP_AEAD_CTX *ctx, const EVP_AEAD *aead,
+                                     const uint8_t *key, size_t key_len,
+                                     size_t tag_len, ENGINE *impl);
+
+/* EVP_AEAD_CTX_init_with_direction calls |EVP_AEAD_CTX_init| for normal
+ * AEADs. For TLS-specific and SSL3-specific AEADs, it initializes |ctx| for a
+ * given direction. */
+OPENSSL_EXPORT int EVP_AEAD_CTX_init_with_direction(
+    EVP_AEAD_CTX *ctx, const EVP_AEAD *aead, const uint8_t *key, size_t key_len,
+    size_t tag_len, enum evp_aead_direction_t dir);
+
+/* EVP_AEAD_CTX_cleanup frees any data allocated by |ctx|. It is a no-op to
+ * call |EVP_AEAD_CTX_cleanup| on a |EVP_AEAD_CTX| that has been |memset| to
+ * all zeros. */
+OPENSSL_EXPORT void EVP_AEAD_CTX_cleanup(EVP_AEAD_CTX *ctx);
+
+/* EVP_AEAD_CTX_seal encrypts and authenticates |in_len| bytes from |in| and
+ * authenticates |ad_len| bytes from |ad| and writes the result to |out|. It
+ * returns one on success and zero otherwise.
+ *
+ * This function may be called (with the same |EVP_AEAD_CTX|) concurrently with
+ * itself or |EVP_AEAD_CTX_open|.
+ *
+ * At most |max_out_len| bytes are written to |out| and, in order to ensure
+ * success, |max_out_len| should be |in_len| plus the result of
+ * |EVP_AEAD_max_overhead|. On successful return, |*out_len| is set to the
+ * actual number of bytes written.
+ *
+ * The length of |nonce|, |nonce_len|, must be equal to the result of
+ * |EVP_AEAD_nonce_length| for this AEAD.
+ *
+ * |EVP_AEAD_CTX_seal| never results in a partial output. If |max_out_len| is
+ * insufficient, zero will be returned. (In this case, |*out_len| is set to
+ * zero.)
+ *
+ * If |in| and |out| alias then |out| must be <= |in|. */
+OPENSSL_EXPORT int EVP_AEAD_CTX_seal(const EVP_AEAD_CTX *ctx, uint8_t *out,
+                                     size_t *out_len, size_t max_out_len,
+                                     const uint8_t *nonce, size_t nonce_len,
+                                     const uint8_t *in, size_t in_len,
+                                     const uint8_t *ad, size_t ad_len);
+
+/* EVP_AEAD_CTX_open authenticates |in_len| bytes from |in| and |ad_len| bytes
+ * from |ad| and decrypts at most |in_len| bytes into |out|. It returns one on
+ * success and zero otherwise.
+ *
+ * This function may be called (with the same |EVP_AEAD_CTX|) concurrently with
+ * itself or |EVP_AEAD_CTX_seal|.
+ *
+ * At most |in_len| bytes are written to |out|. In order to ensure success,
+ * |max_out_len| should be at least |in_len|. On successful return, |*out_len|
+ * is set to the the actual number of bytes written.
+ *
+ * The length of |nonce|, |nonce_len|, must be equal to the result of
+ * |EVP_AEAD_nonce_length| for this AEAD.
+ *
+ * |EVP_AEAD_CTX_open| never results in a partial output. If |max_out_len| is
+ * insufficient, zero will be returned. (In this case, |*out_len| is set to
+ * zero.)
+ *
+ * If |in| and |out| alias then |out| must be <= |in|. */
+OPENSSL_EXPORT int EVP_AEAD_CTX_open(const EVP_AEAD_CTX *ctx, uint8_t *out,
+                                     size_t *out_len, size_t max_out_len,
+                                     const uint8_t *nonce, size_t nonce_len,
+                                     const uint8_t *in, size_t in_len,
+                                     const uint8_t *ad, size_t ad_len);
+
+
+/* Obscure functions. */
+
+/* EVP_AEAD_CTX_get_rc4_state sets |*out_key| to point to an RC4 key structure.
+ * It returns one on success or zero if |ctx| doesn't have an RC4 key. */
+OPENSSL_EXPORT int EVP_AEAD_CTX_get_rc4_state(const EVP_AEAD_CTX *ctx,
+                                              const RC4_KEY **out_key);
+
+
+#if defined(__cplusplus)
+}  /* extern C */
+#endif
+
+#endif  /* OPENSSL_HEADER_AEAD_H */

phonelibs/boringssl/include/openssl/aes.h

@@ -0,0 +1,158 @@
+/* ====================================================================
+ * Copyright (c) 2002-2006 The OpenSSL Project.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer. 
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. All advertising materials mentioning features or use of this
+ *    software must display the following acknowledgment:
+ *    "This product includes software developed by the OpenSSL Project
+ *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
+ *
+ * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    openssl-core@openssl.org.
+ *
+ * 5. Products derived from this software may not be called "OpenSSL"
+ *    nor may "OpenSSL" appear in their names without prior written
+ *    permission of the OpenSSL Project.
+ *
+ * 6. Redistributions of any form whatsoever must retain the following
+ *    acknowledgment:
+ *    "This product includes software developed by the OpenSSL Project
+ *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ * ==================================================================== */
+
+#ifndef OPENSSL_HEADER_AES_H
+#define OPENSSL_HEADER_AES_H
+
+#include <openssl/base.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+
+/* Raw AES functions. */
+
+
+#define AES_ENCRYPT 1
+#define AES_DECRYPT 0
+
+/* AES_MAXNR is the maximum number of AES rounds. */
+#define AES_MAXNR 14
+
+#define AES_BLOCK_SIZE 16
+
+/* aes_key_st should be an opaque type, but EVP requires that the size be
+ * known. */
+struct aes_key_st {
+  uint32_t rd_key[4 * (AES_MAXNR + 1)];
+  unsigned rounds;
+};
+typedef struct aes_key_st AES_KEY;
+
+/* AES_set_encrypt_key configures |aeskey| to encrypt with the |bits|-bit key,
+ * |key|.
+ *
+ * WARNING: unlike other OpenSSL functions, this returns zero on success and a
+ * negative number on error. */
+OPENSSL_EXPORT int AES_set_encrypt_key(const uint8_t *key, unsigned bits,
+                                       AES_KEY *aeskey);
+
+/* AES_set_decrypt_key configures |aeskey| to decrypt with the |bits|-bit key,
+ * |key|.
+ *
+ * WARNING: unlike other OpenSSL functions, this returns zero on success and a
+ * negative number on error. */
+OPENSSL_EXPORT int AES_set_decrypt_key(const uint8_t *key, unsigned bits,
+                                       AES_KEY *aeskey);
+
+/* AES_encrypt encrypts a single block from |in| to |out| with |key|. The |in|
+ * and |out| pointers may overlap. */
+OPENSSL_EXPORT void AES_encrypt(const uint8_t *in, uint8_t *out,
+                                const AES_KEY *key);
+
+/* AES_decrypt decrypts a single block from |in| to |out| with |key|. The |in|
+ * and |out| pointers may overlap. */
+OPENSSL_EXPORT void AES_decrypt(const uint8_t *in, uint8_t *out,
+                                const AES_KEY *key);
+
+
+/* Block cipher modes. */
+
+/* AES_ctr128_encrypt encrypts (or decrypts, it's the same in CTR mode) |len|
+ * bytes from |in| to |out|. The |num| parameter must be set to zero on the
+ * first call and |ivec| will be incremented. */
+OPENSSL_EXPORT void AES_ctr128_encrypt(const uint8_t *in, uint8_t *out,
+                                       size_t len, const AES_KEY *key,
+                                       uint8_t ivec[AES_BLOCK_SIZE],
+                                       uint8_t ecount_buf[AES_BLOCK_SIZE],
+                                       unsigned int *num);
+
+/* AES_ecb_encrypt encrypts (or decrypts, if |enc| == |AES_DECRYPT|) a single,
+ * 16 byte block from |in| to |out|. */
+OPENSSL_EXPORT void AES_ecb_encrypt(const uint8_t *in, uint8_t *out,
+                                    const AES_KEY *key, const int enc);
+
+/* AES_cbc_encrypt encrypts (or decrypts, if |enc| == |AES_DECRYPT|) |len|
+ * bytes from |in| to |out|. The length must be a multiple of the block size. */
+OPENSSL_EXPORT void AES_cbc_encrypt(const uint8_t *in, uint8_t *out, size_t len,
+                                    const AES_KEY *key, uint8_t *ivec,
+                                    const int enc);
+
+/* AES_ofb128_encrypt encrypts (or decrypts, it's the same in CTR mode) |len|
+ * bytes from |in| to |out|. The |num| parameter must be set to zero on the
+ * first call. */
+OPENSSL_EXPORT void AES_ofb128_encrypt(const uint8_t *in, uint8_t *out,
+                                       size_t len, const AES_KEY *key,
+                                       uint8_t *ivec, int *num);
+
+/* AES_cfb128_encrypt encrypts (or decrypts, if |enc| == |AES_DECRYPT|) |len|
+ * bytes from |in| to |out|. The |num| parameter must be set to zero on the
+ * first call. */
+OPENSSL_EXPORT void AES_cfb128_encrypt(const uint8_t *in, uint8_t *out,
+                                       size_t len, const AES_KEY *key,
+                                       uint8_t *ivec, int *num, int enc);
+
+
+/* Android compatibility section.
+ *
+ * These functions are declared, temporarily, for Android because
+ * wpa_supplicant will take a little time to sync with upstream. Outside of
+ * Android they'll have no definition. */
+
+OPENSSL_EXPORT int AES_wrap_key(AES_KEY *key, const uint8_t *iv, uint8_t *out,
+                                const uint8_t *in, unsigned in_len);
+OPENSSL_EXPORT int AES_unwrap_key(AES_KEY *key, const uint8_t *iv, uint8_t *out,
+                                  const uint8_t *in, unsigned in_len);
+
+
+#if defined(__cplusplus)
+}  /* extern C */
+#endif
+
+#endif  /* OPENSSL_HEADER_AES_H */

phonelibs/boringssl/include/openssl/asn1_mac.h

@@ -0,0 +1,76 @@
+/* crypto/asn1/asn1_mac.h */
+/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
+ * All rights reserved.
+ *
+ * This package is an SSL implementation written
+ * by Eric Young (eay@cryptsoft.com).
+ * The implementation was written so as to conform with Netscapes SSL.
+ * 
+ * This library is free for commercial and non-commercial use as long as
+ * the following conditions are aheared to.  The following conditions
+ * apply to all code found in this distribution, be it the RC4, RSA,
+ * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
+ * included with this distribution is covered by the same copyright terms
+ * except that the holder is Tim Hudson (tjh@cryptsoft.com).
+ * 
+ * Copyright remains Eric Young's, and as such any Copyright notices in
+ * the code are not to be removed.
+ * If this package is used in a product, Eric Young should be given attribution
+ * as the author of the parts of the library used.
+ * This can be in the form of a textual message at program startup or
+ * in documentation (online or textual) provided with the package.
+ * 
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. All advertising materials mentioning features or use of this software
+ *    must display the following acknowledgement:
+ *    "This product includes cryptographic software written by
+ *     Eric Young (eay@cryptsoft.com)"
+ *    The word 'cryptographic' can be left out if the rouines from the library
+ *    being used are not cryptographic related :-).
+ * 4. If you include any Windows specific code (or a derivative thereof) from 
+ *    the apps directory (application code) you must include an acknowledgement:
+ *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
+ * 
+ * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ * 
+ * The licence and distribution terms for any publically available version or
+ * derivative of this code cannot be changed.  i.e. this code cannot simply be
+ * copied and put under another distribution licence
+ * [including the GNU Public Licence.]
+ */
+
+#ifndef HEADER_ASN1_MAC_H
+#define HEADER_ASN1_MAC_H
+
+#include <openssl/asn1.h>
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+
+OPENSSL_EXPORT int asn1_GetSequence(ASN1_const_CTX *c, long *length);
+
+
+#ifdef  __cplusplus
+}
+#endif
+
+#endif

phonelibs/boringssl/include/openssl/asn1t.h

@@ -0,0 +1,907 @@
+/* asn1t.h */
+/* Written by Dr Stephen N Henson (steve@openssl.org) for the OpenSSL
+ * project 2000.
+ */
+/* ====================================================================
+ * Copyright (c) 2000-2005 The OpenSSL Project.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer. 
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. All advertising materials mentioning features or use of this
+ *    software must display the following acknowledgment:
+ *    "This product includes software developed by the OpenSSL Project
+ *    for use in the OpenSSL Toolkit. (http://www.OpenSSL.org/)"
+ *
+ * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    licensing@OpenSSL.org.
+ *
+ * 5. Products derived from this software may not be called "OpenSSL"
+ *    nor may "OpenSSL" appear in their names without prior written
+ *    permission of the OpenSSL Project.
+ *
+ * 6. Redistributions of any form whatsoever must retain the following
+ *    acknowledgment:
+ *    "This product includes software developed by the OpenSSL Project
+ *    for use in the OpenSSL Toolkit (http://www.OpenSSL.org/)"
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ * ====================================================================
+ *
+ * This product includes cryptographic software written by Eric Young
+ * (eay@cryptsoft.com).  This product includes software written by Tim
+ * Hudson (tjh@cryptsoft.com).
+ *
+ */
+#ifndef HEADER_ASN1T_H
+#define HEADER_ASN1T_H
+
+#include <openssl/base.h>
+#include <openssl/asn1.h>
+
+#ifdef OPENSSL_BUILD_SHLIBCRYPTO
+# undef OPENSSL_EXTERN
+# define OPENSSL_EXTERN OPENSSL_EXPORT
+#endif
+
+/* ASN1 template defines, structures and functions */
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+
+/* Macro to obtain ASN1_ADB pointer from a type (only used internally) */
+#define ASN1_ADB_ptr(iptr) ((const ASN1_ADB *)(iptr))
+
+
+/* Macros for start and end of ASN1_ITEM definition */
+
+#define ASN1_ITEM_start(itname) \
+	const ASN1_ITEM itname##_it = {
+
+#define ASN1_ITEM_end(itname) \
+		};
+
+/* Macros to aid ASN1 template writing */
+
+#define ASN1_ITEM_TEMPLATE(tname) \
+	static const ASN1_TEMPLATE tname##_item_tt 
+
+#define ASN1_ITEM_TEMPLATE_END(tname) \
+	;\
+	ASN1_ITEM_start(tname) \
+		ASN1_ITYPE_PRIMITIVE,\
+		-1,\
+		&tname##_item_tt,\
+		0,\
+		NULL,\
+		0,\
+		#tname \
+	ASN1_ITEM_end(tname)
+
+
+/* This is a ASN1 type which just embeds a template */
+ 
+/* This pair helps declare a SEQUENCE. We can do:
+ *
+ * 	ASN1_SEQUENCE(stname) = {
+ * 		... SEQUENCE components ...
+ * 	} ASN1_SEQUENCE_END(stname)
+ *
+ * 	This will produce an ASN1_ITEM called stname_it
+ *	for a structure called stname.
+ *
+ * 	If you want the same structure but a different
+ *	name then use:
+ *
+ * 	ASN1_SEQUENCE(itname) = {
+ * 		... SEQUENCE components ...
+ * 	} ASN1_SEQUENCE_END_name(stname, itname)
+ *
+ *	This will create an item called itname_it using
+ *	a structure called stname.
+ */
+
+#define ASN1_SEQUENCE(tname) \
+	static const ASN1_TEMPLATE tname##_seq_tt[] 
+
+#define ASN1_SEQUENCE_END(stname) ASN1_SEQUENCE_END_name(stname, stname)
+
+#define ASN1_SEQUENCE_END_name(stname, tname) \
+	;\
+	ASN1_ITEM_start(tname) \
+		ASN1_ITYPE_SEQUENCE,\
+		V_ASN1_SEQUENCE,\
+		tname##_seq_tt,\
+		sizeof(tname##_seq_tt) / sizeof(ASN1_TEMPLATE),\
+		NULL,\
+		sizeof(stname),\
+		#stname \
+	ASN1_ITEM_end(tname)
+
+#define ASN1_NDEF_SEQUENCE(tname) \
+	ASN1_SEQUENCE(tname)
+
+#define ASN1_NDEF_SEQUENCE_cb(tname, cb) \
+	ASN1_SEQUENCE_cb(tname, cb)
+
+#define ASN1_SEQUENCE_cb(tname, cb) \
+	static const ASN1_AUX tname##_aux = {NULL, 0, 0, cb, 0}; \
+	ASN1_SEQUENCE(tname)
+
+#define ASN1_BROKEN_SEQUENCE(tname) \
+	static const ASN1_AUX tname##_aux = {NULL, ASN1_AFLG_BROKEN, 0, 0, 0}; \
+	ASN1_SEQUENCE(tname)
+
+#define ASN1_SEQUENCE_ref(tname, cb) \
+	static const ASN1_AUX tname##_aux = {NULL, ASN1_AFLG_REFCOUNT, offsetof(tname, references), cb, 0}; \
+	ASN1_SEQUENCE(tname)
+
+#define ASN1_SEQUENCE_enc(tname, enc, cb) \
+	static const ASN1_AUX tname##_aux = {NULL, ASN1_AFLG_ENCODING, 0, cb, offsetof(tname, enc)}; \
+	ASN1_SEQUENCE(tname)
+
+#define ASN1_NDEF_SEQUENCE_END(tname) \
+	;\
+	ASN1_ITEM_start(tname) \
+		ASN1_ITYPE_NDEF_SEQUENCE,\
+		V_ASN1_SEQUENCE,\
+		tname##_seq_tt,\
+		sizeof(tname##_seq_tt) / sizeof(ASN1_TEMPLATE),\
+		NULL,\
+		sizeof(tname),\
+		#tname \
+	ASN1_ITEM_end(tname)
+
+#define ASN1_BROKEN_SEQUENCE_END(stname) ASN1_SEQUENCE_END_ref(stname, stname)
+
+#define ASN1_SEQUENCE_END_enc(stname, tname) ASN1_SEQUENCE_END_ref(stname, tname)
+
+#define ASN1_SEQUENCE_END_cb(stname, tname) ASN1_SEQUENCE_END_ref(stname, tname)
+
+#define ASN1_SEQUENCE_END_ref(stname, tname) \
+	;\
+	ASN1_ITEM_start(tname) \
+		ASN1_ITYPE_SEQUENCE,\
+		V_ASN1_SEQUENCE,\
+		tname##_seq_tt,\
+		sizeof(tname##_seq_tt) / sizeof(ASN1_TEMPLATE),\
+		&tname##_aux,\
+		sizeof(stname),\
+		#stname \
+	ASN1_ITEM_end(tname)
+
+#define ASN1_NDEF_SEQUENCE_END_cb(stname, tname) \
+	;\
+	ASN1_ITEM_start(tname) \
+		ASN1_ITYPE_NDEF_SEQUENCE,\
+		V_ASN1_SEQUENCE,\
+		tname##_seq_tt,\
+		sizeof(tname##_seq_tt) / sizeof(ASN1_TEMPLATE),\
+		&tname##_aux,\
+		sizeof(stname),\
+		#stname \
+	ASN1_ITEM_end(tname)
+
+
+/* This pair helps declare a CHOICE type. We can do:
+ *
+ * 	ASN1_CHOICE(chname) = {
+ * 		... CHOICE options ...
+ * 	ASN1_CHOICE_END(chname)
+ *
+ * 	This will produce an ASN1_ITEM called chname_it
+ *	for a structure called chname. The structure
+ *	definition must look like this:
+ *	typedef struct {
+ *		int type;
+ *		union {
+ *			ASN1_SOMETHING *opt1;
+ *			ASN1_SOMEOTHER *opt2;
+ *		} value;
+ *	} chname;
+ *	
+ *	the name of the selector must be 'type'.
+ * 	to use an alternative selector name use the
+ *      ASN1_CHOICE_END_selector() version.
+ */
+
+#define ASN1_CHOICE(tname) \
+	static const ASN1_TEMPLATE tname##_ch_tt[] 
+
+#define ASN1_CHOICE_cb(tname, cb) \
+	static const ASN1_AUX tname##_aux = {NULL, 0, 0, cb, 0}; \
+	ASN1_CHOICE(tname)
+
+#define ASN1_CHOICE_END(stname) ASN1_CHOICE_END_name(stname, stname)
+
+#define ASN1_CHOICE_END_name(stname, tname) ASN1_CHOICE_END_selector(stname, tname, type)
+
+#define ASN1_CHOICE_END_selector(stname, tname, selname) \
+	;\
+	ASN1_ITEM_start(tname) \
+		ASN1_ITYPE_CHOICE,\
+		offsetof(stname,selname) ,\
+		tname##_ch_tt,\
+		sizeof(tname##_ch_tt) / sizeof(ASN1_TEMPLATE),\
+		NULL,\
+		sizeof(stname),\
+		#stname \
+	ASN1_ITEM_end(tname)
+
+#define ASN1_CHOICE_END_cb(stname, tname, selname) \
+	;\
+	ASN1_ITEM_start(tname) \
+		ASN1_ITYPE_CHOICE,\
+		offsetof(stname,selname) ,\
+		tname##_ch_tt,\
+		sizeof(tname##_ch_tt) / sizeof(ASN1_TEMPLATE),\
+		&tname##_aux,\
+		sizeof(stname),\
+		#stname \
+	ASN1_ITEM_end(tname)
+
+/* This helps with the template wrapper form of ASN1_ITEM */
+
+#define ASN1_EX_TEMPLATE_TYPE(flags, tag, name, type) { \
+	(flags), (tag), 0,\
+	#name, ASN1_ITEM_ref(type) }
+
+/* These help with SEQUENCE or CHOICE components */
+
+/* used to declare other types */
+
+#define ASN1_EX_TYPE(flags, tag, stname, field, type) { \
+	(flags), (tag), offsetof(stname, field),\
+	#field, ASN1_ITEM_ref(type) }
+
+/* used when the structure is combined with the parent */
+
+#define ASN1_EX_COMBINE(flags, tag, type) { \
+	(flags)|ASN1_TFLG_COMBINE, (tag), 0, NULL, ASN1_ITEM_ref(type) }
+
+/* implicit and explicit helper macros */
+
+#define ASN1_IMP_EX(stname, field, type, tag, ex) \
+		ASN1_EX_TYPE(ASN1_TFLG_IMPLICIT | ex, tag, stname, field, type)
+
+#define ASN1_EXP_EX(stname, field, type, tag, ex) \
+		ASN1_EX_TYPE(ASN1_TFLG_EXPLICIT | ex, tag, stname, field, type)
+
+/* Any defined by macros: the field used is in the table itself */
+
+#define ASN1_ADB_OBJECT(tblname) { ASN1_TFLG_ADB_OID, -1, 0, #tblname, (const ASN1_ITEM *)&(tblname##_adb) }
+#define ASN1_ADB_INTEGER(tblname) { ASN1_TFLG_ADB_INT, -1, 0, #tblname, (const ASN1_ITEM *)&(tblname##_adb) }
+/* Plain simple type */
+#define ASN1_SIMPLE(stname, field, type) ASN1_EX_TYPE(0,0, stname, field, type)
+
+/* OPTIONAL simple type */
+#define ASN1_OPT(stname, field, type) ASN1_EX_TYPE(ASN1_TFLG_OPTIONAL, 0, stname, field, type)
+
+/* IMPLICIT tagged simple type */
+#define ASN1_IMP(stname, field, type, tag) ASN1_IMP_EX(stname, field, type, tag, 0)
+
+/* IMPLICIT tagged OPTIONAL simple type */
+#define ASN1_IMP_OPT(stname, field, type, tag) ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_OPTIONAL)
+
+/* Same as above but EXPLICIT */
+
+#define ASN1_EXP(stname, field, type, tag) ASN1_EXP_EX(stname, field, type, tag, 0)
+#define ASN1_EXP_OPT(stname, field, type, tag) ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_OPTIONAL)
+
+/* SEQUENCE OF type */
+#define ASN1_SEQUENCE_OF(stname, field, type) \
+		ASN1_EX_TYPE(ASN1_TFLG_SEQUENCE_OF, 0, stname, field, type)
+
+/* OPTIONAL SEQUENCE OF */
+#define ASN1_SEQUENCE_OF_OPT(stname, field, type) \
+		ASN1_EX_TYPE(ASN1_TFLG_SEQUENCE_OF|ASN1_TFLG_OPTIONAL, 0, stname, field, type)
+
+/* Same as above but for SET OF */
+
+#define ASN1_SET_OF(stname, field, type) \
+		ASN1_EX_TYPE(ASN1_TFLG_SET_OF, 0, stname, field, type)
+
+#define ASN1_SET_OF_OPT(stname, field, type) \
+		ASN1_EX_TYPE(ASN1_TFLG_SET_OF|ASN1_TFLG_OPTIONAL, 0, stname, field, type)
+
+/* Finally compound types of SEQUENCE, SET, IMPLICIT, EXPLICIT and OPTIONAL */
+
+#define ASN1_IMP_SET_OF(stname, field, type, tag) \
+			ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_SET_OF)
+
+#define ASN1_EXP_SET_OF(stname, field, type, tag) \
+			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_SET_OF)
+
+#define ASN1_IMP_SET_OF_OPT(stname, field, type, tag) \
+			ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_SET_OF|ASN1_TFLG_OPTIONAL)
+
+#define ASN1_EXP_SET_OF_OPT(stname, field, type, tag) \
+			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_SET_OF|ASN1_TFLG_OPTIONAL)
+
+#define ASN1_IMP_SEQUENCE_OF(stname, field, type, tag) \
+			ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_SEQUENCE_OF)
+
+#define ASN1_IMP_SEQUENCE_OF_OPT(stname, field, type, tag) \
+			ASN1_IMP_EX(stname, field, type, tag, ASN1_TFLG_SEQUENCE_OF|ASN1_TFLG_OPTIONAL)
+
+#define ASN1_EXP_SEQUENCE_OF(stname, field, type, tag) \
+			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_SEQUENCE_OF)
+
+#define ASN1_EXP_SEQUENCE_OF_OPT(stname, field, type, tag) \
+			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_SEQUENCE_OF|ASN1_TFLG_OPTIONAL)
+
+/* EXPLICIT using indefinite length constructed form */
+#define ASN1_NDEF_EXP(stname, field, type, tag) \
+			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_NDEF)
+
+/* EXPLICIT OPTIONAL using indefinite length constructed form */
+#define ASN1_NDEF_EXP_OPT(stname, field, type, tag) \
+			ASN1_EXP_EX(stname, field, type, tag, ASN1_TFLG_OPTIONAL|ASN1_TFLG_NDEF)
+
+/* Macros for the ASN1_ADB structure */
+
+#define ASN1_ADB(name) \
+	static const ASN1_ADB_TABLE name##_adbtbl[] 
+
+#define ASN1_ADB_END(name, flags, field, app_table, def, none) \
+	;\
+	static const ASN1_ADB name##_adb = {\
+		flags,\
+		offsetof(name, field),\
+		app_table,\
+		name##_adbtbl,\
+		sizeof(name##_adbtbl) / sizeof(ASN1_ADB_TABLE),\
+		def,\
+		none\
+	}
+
+#define ADB_ENTRY(val, template) {val, template}
+
+#define ASN1_ADB_TEMPLATE(name) \
+	static const ASN1_TEMPLATE name##_tt 
+
+/* This is the ASN1 template structure that defines
+ * a wrapper round the actual type. It determines the
+ * actual position of the field in the value structure,
+ * various flags such as OPTIONAL and the field name.
+ */
+
+struct ASN1_TEMPLATE_st {
+unsigned long flags;		/* Various flags */
+long tag;			/* tag, not used if no tagging */
+unsigned long offset;		/* Offset of this field in structure */
+#ifndef NO_ASN1_FIELD_NAMES
+const char *field_name;		/* Field name */
+#endif
+ASN1_ITEM_EXP *item;		/* Relevant ASN1_ITEM or ASN1_ADB */
+};
+
+/* Macro to extract ASN1_ITEM and ASN1_ADB pointer from ASN1_TEMPLATE */
+
+#define ASN1_TEMPLATE_item(t) (t->item_ptr)
+#define ASN1_TEMPLATE_adb(t) (t->item_ptr)
+
+typedef struct ASN1_ADB_TABLE_st ASN1_ADB_TABLE;
+typedef struct ASN1_ADB_st ASN1_ADB;
+
+struct ASN1_ADB_st {
+	unsigned long flags;	/* Various flags */
+	unsigned long offset;	/* Offset of selector field */
+	STACK_OF(ASN1_ADB_TABLE) **app_items; /* Application defined items */
+	const ASN1_ADB_TABLE *tbl;	/* Table of possible types */
+	long tblcount;		/* Number of entries in tbl */
+	const ASN1_TEMPLATE *default_tt;  /* Type to use if no match */
+	const ASN1_TEMPLATE *null_tt;  /* Type to use if selector is NULL */
+};
+
+struct ASN1_ADB_TABLE_st {
+	long value;		/* NID for an object or value for an int */
+	const ASN1_TEMPLATE tt;		/* item for this value */
+};
+
+/* template flags */
+
+/* Field is optional */
+#define ASN1_TFLG_OPTIONAL	(0x1)
+
+/* Field is a SET OF */
+#define ASN1_TFLG_SET_OF	(0x1 << 1)
+
+/* Field is a SEQUENCE OF */
+#define ASN1_TFLG_SEQUENCE_OF	(0x2 << 1)
+
+/* Special case: this refers to a SET OF that
+ * will be sorted into DER order when encoded *and*
+ * the corresponding STACK will be modified to match
+ * the new order.
+ */
+#define ASN1_TFLG_SET_ORDER	(0x3 << 1)
+
+/* Mask for SET OF or SEQUENCE OF */
+#define ASN1_TFLG_SK_MASK	(0x3 << 1)
+
+/* These flags mean the tag should be taken from the
+ * tag field. If EXPLICIT then the underlying type
+ * is used for the inner tag.
+ */
+
+/* IMPLICIT tagging */
+#define ASN1_TFLG_IMPTAG	(0x1 << 3)
+
+
+/* EXPLICIT tagging, inner tag from underlying type */
+#define ASN1_TFLG_EXPTAG	(0x2 << 3)
+
+#define ASN1_TFLG_TAG_MASK	(0x3 << 3)
+
+/* context specific IMPLICIT */
+#define ASN1_TFLG_IMPLICIT	ASN1_TFLG_IMPTAG|ASN1_TFLG_CONTEXT
+
+/* context specific EXPLICIT */
+#define ASN1_TFLG_EXPLICIT	ASN1_TFLG_EXPTAG|ASN1_TFLG_CONTEXT
+
+/* If tagging is in force these determine the
+ * type of tag to use. Otherwise the tag is
+ * determined by the underlying type. These 
+ * values reflect the actual octet format.
+ */
+
+/* Universal tag */ 
+#define ASN1_TFLG_UNIVERSAL	(0x0<<6)
+/* Application tag */ 
+#define ASN1_TFLG_APPLICATION	(0x1<<6)
+/* Context specific tag */ 
+#define ASN1_TFLG_CONTEXT	(0x2<<6)
+/* Private tag */ 
+#define ASN1_TFLG_PRIVATE	(0x3<<6)
+
+#define ASN1_TFLG_TAG_CLASS	(0x3<<6)
+
+/* These are for ANY DEFINED BY type. In this case
+ * the 'item' field points to an ASN1_ADB structure
+ * which contains a table of values to decode the
+ * relevant type
+ */
+
+#define ASN1_TFLG_ADB_MASK	(0x3<<8)
+
+#define ASN1_TFLG_ADB_OID	(0x1<<8)
+
+#define ASN1_TFLG_ADB_INT	(0x1<<9)
+
+/* This flag means a parent structure is passed
+ * instead of the field: this is useful is a
+ * SEQUENCE is being combined with a CHOICE for
+ * example. Since this means the structure and
+ * item name will differ we need to use the
+ * ASN1_CHOICE_END_name() macro for example.
+ */
+
+#define ASN1_TFLG_COMBINE	(0x1<<10)
+
+/* This flag when present in a SEQUENCE OF, SET OF
+ * or EXPLICIT causes indefinite length constructed
+ * encoding to be used if required.
+ */
+
+#define ASN1_TFLG_NDEF		(0x1<<11)
+
+/* This is the actual ASN1 item itself */
+
+struct ASN1_ITEM_st {
+char itype;			/* The item type, primitive, SEQUENCE, CHOICE or extern */
+long utype;			/* underlying type */
+const ASN1_TEMPLATE *templates;	/* If SEQUENCE or CHOICE this contains the contents */
+long tcount;			/* Number of templates if SEQUENCE or CHOICE */
+const void *funcs;		/* functions that handle this type */
+long size;			/* Structure size (usually)*/
+#ifndef NO_ASN1_FIELD_NAMES
+const char *sname;		/* Structure name */
+#endif
+};
+
+/* These are values for the itype field and
+ * determine how the type is interpreted.
+ *
+ * For PRIMITIVE types the underlying type
+ * determines the behaviour if items is NULL.
+ *
+ * Otherwise templates must contain a single 
+ * template and the type is treated in the
+ * same way as the type specified in the template.
+ *
+ * For SEQUENCE types the templates field points
+ * to the members, the size field is the
+ * structure size.
+ *
+ * For CHOICE types the templates field points
+ * to each possible member (typically a union)
+ * and the 'size' field is the offset of the
+ * selector.
+ *
+ * The 'funcs' field is used for application
+ * specific functions. 
+ *
+ * For COMPAT types the funcs field gives a
+ * set of functions that handle this type, this
+ * supports the old d2i, i2d convention.
+ *
+ * The EXTERN type uses a new style d2i/i2d.
+ * The new style should be used where possible
+ * because it avoids things like the d2i IMPLICIT
+ * hack.
+ *
+ * MSTRING is a multiple string type, it is used
+ * for a CHOICE of character strings where the
+ * actual strings all occupy an ASN1_STRING
+ * structure. In this case the 'utype' field
+ * has a special meaning, it is used as a mask
+ * of acceptable types using the B_ASN1 constants.
+ *
+ * NDEF_SEQUENCE is the same as SEQUENCE except
+ * that it will use indefinite length constructed
+ * encoding if requested.
+ *
+ */
+
+#define ASN1_ITYPE_PRIMITIVE		0x0
+
+#define ASN1_ITYPE_SEQUENCE		0x1
+
+#define ASN1_ITYPE_CHOICE		0x2
+
+#define ASN1_ITYPE_COMPAT		0x3
+
+#define ASN1_ITYPE_EXTERN		0x4
+
+#define ASN1_ITYPE_MSTRING		0x5
+
+#define ASN1_ITYPE_NDEF_SEQUENCE	0x6
+
+/* Cache for ASN1 tag and length, so we
+ * don't keep re-reading it for things
+ * like CHOICE
+ */
+
+struct ASN1_TLC_st{
+	char valid;	/* Values below are valid */
+	int ret;	/* return value */
+	long plen;	/* length */
+	int ptag;	/* class value */
+	int pclass;	/* class value */
+	int hdrlen;	/* header length */
+};
+
+/* Typedefs for ASN1 function pointers */
+
+typedef ASN1_VALUE * ASN1_new_func(void);
+typedef void ASN1_free_func(ASN1_VALUE *a);
+typedef ASN1_VALUE * ASN1_d2i_func(ASN1_VALUE **a, const unsigned char ** in, long length);
+typedef int ASN1_i2d_func(ASN1_VALUE * a, unsigned char **in);
+
+typedef int ASN1_ex_d2i(ASN1_VALUE **pval, const unsigned char **in, long len, const ASN1_ITEM *it,
+					int tag, int aclass, char opt, ASN1_TLC *ctx);
+
+typedef int ASN1_ex_i2d(ASN1_VALUE **pval, unsigned char **out, const ASN1_ITEM *it, int tag, int aclass);
+typedef int ASN1_ex_new_func(ASN1_VALUE **pval, const ASN1_ITEM *it);
+typedef void ASN1_ex_free_func(ASN1_VALUE **pval, const ASN1_ITEM *it);
+
+typedef int ASN1_ex_print_func(BIO *out, ASN1_VALUE **pval, 
+						int indent, const char *fname, 
+						const ASN1_PCTX *pctx);
+
+typedef int ASN1_primitive_i2c(ASN1_VALUE **pval, unsigned char *cont, int *putype, const ASN1_ITEM *it);
+typedef int ASN1_primitive_c2i(ASN1_VALUE **pval, const unsigned char *cont, int len, int utype, char *free_cont, const ASN1_ITEM *it);
+typedef int ASN1_primitive_print(BIO *out, ASN1_VALUE **pval, const ASN1_ITEM *it, int indent, const ASN1_PCTX *pctx);
+
+typedef struct ASN1_COMPAT_FUNCS_st {
+	ASN1_new_func *asn1_new;
+	ASN1_free_func *asn1_free;
+	ASN1_d2i_func *asn1_d2i;
+	ASN1_i2d_func *asn1_i2d;
+} ASN1_COMPAT_FUNCS;
+
+typedef struct ASN1_EXTERN_FUNCS_st {
+	void *app_data;
+	ASN1_ex_new_func *asn1_ex_new;
+	ASN1_ex_free_func *asn1_ex_free;
+	ASN1_ex_free_func *asn1_ex_clear;
+	ASN1_ex_d2i *asn1_ex_d2i;
+	ASN1_ex_i2d *asn1_ex_i2d;
+	ASN1_ex_print_func *asn1_ex_print;
+} ASN1_EXTERN_FUNCS;
+
+typedef struct ASN1_PRIMITIVE_FUNCS_st {
+	void *app_data;
+	unsigned long flags;
+	ASN1_ex_new_func *prim_new;
+	ASN1_ex_free_func *prim_free;
+	ASN1_ex_free_func *prim_clear;
+	ASN1_primitive_c2i *prim_c2i;
+	ASN1_primitive_i2c *prim_i2c;
+	ASN1_primitive_print *prim_print;
+} ASN1_PRIMITIVE_FUNCS;
+
+/* This is the ASN1_AUX structure: it handles various
+ * miscellaneous requirements. For example the use of
+ * reference counts and an informational callback.
+ *
+ * The "informational callback" is called at various
+ * points during the ASN1 encoding and decoding. It can
+ * be used to provide minor customisation of the structures
+ * used. This is most useful where the supplied routines
+ * *almost* do the right thing but need some extra help
+ * at a few points. If the callback returns zero then
+ * it is assumed a fatal error has occurred and the 
+ * main operation should be abandoned.
+ *
+ * If major changes in the default behaviour are required
+ * then an external type is more appropriate.
+ */
+
+typedef int ASN1_aux_cb(int operation, ASN1_VALUE **in, const ASN1_ITEM *it,
+				void *exarg);
+
+typedef struct ASN1_AUX_st {
+	void *app_data;
+	int flags;
+	int ref_offset;		/* Offset of reference value */
+	ASN1_aux_cb *asn1_cb;
+	int enc_offset;		/* Offset of ASN1_ENCODING structure */
+} ASN1_AUX;
+
+/* For print related callbacks exarg points to this structure */
+typedef struct ASN1_PRINT_ARG_st {
+	BIO *out;
+	int indent;
+	const ASN1_PCTX *pctx;
+} ASN1_PRINT_ARG;
+
+/* For streaming related callbacks exarg points to this structure */
+typedef struct ASN1_STREAM_ARG_st {
+	/* BIO to stream through */
+	BIO *out;
+	/* BIO with filters appended */
+	BIO *ndef_bio;
+	/* Streaming I/O boundary */
+	unsigned char **boundary;
+} ASN1_STREAM_ARG;
+
+/* Flags in ASN1_AUX */
+
+/* Use a reference count */
+#define ASN1_AFLG_REFCOUNT	1
+/* Save the encoding of structure (useful for signatures) */
+#define ASN1_AFLG_ENCODING	2
+/* The Sequence length is invalid */
+#define ASN1_AFLG_BROKEN	4
+
+/* operation values for asn1_cb */
+
+#define ASN1_OP_NEW_PRE		0
+#define ASN1_OP_NEW_POST	1
+#define ASN1_OP_FREE_PRE	2
+#define ASN1_OP_FREE_POST	3
+#define ASN1_OP_D2I_PRE		4
+#define ASN1_OP_D2I_POST	5
+#define ASN1_OP_I2D_PRE		6
+#define ASN1_OP_I2D_POST	7
+#define ASN1_OP_PRINT_PRE	8
+#define ASN1_OP_PRINT_POST	9
+#define ASN1_OP_STREAM_PRE	10
+#define ASN1_OP_STREAM_POST	11
+#define ASN1_OP_DETACHED_PRE	12
+#define ASN1_OP_DETACHED_POST	13
+
+/* Macro to implement a primitive type */
+#define IMPLEMENT_ASN1_TYPE(stname) IMPLEMENT_ASN1_TYPE_ex(stname, stname, 0)
+#define IMPLEMENT_ASN1_TYPE_ex(itname, vname, ex) \
+				ASN1_ITEM_start(itname) \
+					ASN1_ITYPE_PRIMITIVE, V_##vname, NULL, 0, NULL, ex, #itname \
+				ASN1_ITEM_end(itname)
+
+/* Macro to implement a multi string type */
+#define IMPLEMENT_ASN1_MSTRING(itname, mask) \
+				ASN1_ITEM_start(itname) \
+					ASN1_ITYPE_MSTRING, mask, NULL, 0, NULL, sizeof(ASN1_STRING), #itname \
+				ASN1_ITEM_end(itname)
+
+/* Macro to implement an ASN1_ITEM in terms of old style funcs */
+
+#define IMPLEMENT_COMPAT_ASN1(sname) IMPLEMENT_COMPAT_ASN1_type(sname, V_ASN1_SEQUENCE)
+
+#define IMPLEMENT_COMPAT_ASN1_type(sname, tag) \
+	static const ASN1_COMPAT_FUNCS sname##_ff = { \
+		(ASN1_new_func *)sname##_new, \
+		(ASN1_free_func *)sname##_free, \
+		(ASN1_d2i_func *)d2i_##sname, \
+		(ASN1_i2d_func *)i2d_##sname, \
+	}; \
+	ASN1_ITEM_start(sname) \
+		ASN1_ITYPE_COMPAT, \
+		tag, \
+		NULL, \
+		0, \
+		&sname##_ff, \
+		0, \
+		#sname \
+	ASN1_ITEM_end(sname)
+
+#define IMPLEMENT_EXTERN_ASN1(sname, tag, fptrs) \
+	ASN1_ITEM_start(sname) \
+		ASN1_ITYPE_EXTERN, \
+		tag, \
+		NULL, \
+		0, \
+		&fptrs, \
+		0, \
+		#sname \
+	ASN1_ITEM_end(sname)
+
+/* Macro to implement standard functions in terms of ASN1_ITEM structures */
+
+#define IMPLEMENT_ASN1_FUNCTIONS(stname) IMPLEMENT_ASN1_FUNCTIONS_fname(stname, stname, stname)
+
+#define IMPLEMENT_ASN1_FUNCTIONS_name(stname, itname) IMPLEMENT_ASN1_FUNCTIONS_fname(stname, itname, itname)
+
+#define IMPLEMENT_ASN1_FUNCTIONS_ENCODE_name(stname, itname) \
+			IMPLEMENT_ASN1_FUNCTIONS_ENCODE_fname(stname, itname, itname)
+
+#define IMPLEMENT_STATIC_ASN1_ALLOC_FUNCTIONS(stname) \
+		IMPLEMENT_ASN1_ALLOC_FUNCTIONS_pfname(static, stname, stname, stname)
+
+#define IMPLEMENT_ASN1_ALLOC_FUNCTIONS(stname) \
+		IMPLEMENT_ASN1_ALLOC_FUNCTIONS_fname(stname, stname, stname)
+
+#define IMPLEMENT_ASN1_ALLOC_FUNCTIONS_pfname(pre, stname, itname, fname) \
+	pre stname *fname##_new(void) \
+	{ \
+		return (stname *)ASN1_item_new(ASN1_ITEM_rptr(itname)); \
+	} \
+	pre void fname##_free(stname *a) \
+	{ \
+		ASN1_item_free((ASN1_VALUE *)a, ASN1_ITEM_rptr(itname)); \
+	}
+
+#define IMPLEMENT_ASN1_ALLOC_FUNCTIONS_fname(stname, itname, fname) \
+	stname *fname##_new(void) \
+	{ \
+		return (stname *)ASN1_item_new(ASN1_ITEM_rptr(itname)); \
+	} \
+	void fname##_free(stname *a) \
+	{ \
+		ASN1_item_free((ASN1_VALUE *)a, ASN1_ITEM_rptr(itname)); \
+	}
+
+#define IMPLEMENT_ASN1_FUNCTIONS_fname(stname, itname, fname) \
+	IMPLEMENT_ASN1_ENCODE_FUNCTIONS_fname(stname, itname, fname) \
+	IMPLEMENT_ASN1_ALLOC_FUNCTIONS_fname(stname, itname, fname)
+
+#define IMPLEMENT_ASN1_ENCODE_FUNCTIONS_fname(stname, itname, fname) \
+	stname *d2i_##fname(stname **a, const unsigned char **in, long len) \
+	{ \
+		return (stname *)ASN1_item_d2i((ASN1_VALUE **)a, in, len, ASN1_ITEM_rptr(itname));\
+	} \
+	int i2d_##fname(stname *a, unsigned char **out) \
+	{ \
+		return ASN1_item_i2d((ASN1_VALUE *)a, out, ASN1_ITEM_rptr(itname));\
+	} 
+
+#define IMPLEMENT_ASN1_NDEF_FUNCTION(stname) \
+	int i2d_##stname##_NDEF(stname *a, unsigned char **out) \
+	{ \
+		return ASN1_item_ndef_i2d((ASN1_VALUE *)a, out, ASN1_ITEM_rptr(stname));\
+	} 
+
+/* This includes evil casts to remove const: they will go away when full
+ * ASN1 constification is done.
+ */
+#define IMPLEMENT_ASN1_ENCODE_FUNCTIONS_const_fname(stname, itname, fname) \
+	stname *d2i_##fname(stname **a, const unsigned char **in, long len) \
+	{ \
+		return (stname *)ASN1_item_d2i((ASN1_VALUE **)a, in, len, ASN1_ITEM_rptr(itname));\
+	} \
+	int i2d_##fname(const stname *a, unsigned char **out) \
+	{ \
+		return ASN1_item_i2d((ASN1_VALUE *)a, out, ASN1_ITEM_rptr(itname));\
+	} 
+
+#define IMPLEMENT_ASN1_DUP_FUNCTION(stname) \
+	stname * stname##_dup(stname *x) \
+        { \
+        return ASN1_item_dup(ASN1_ITEM_rptr(stname), x); \
+        }
+
+#define IMPLEMENT_ASN1_PRINT_FUNCTION(stname) \
+	IMPLEMENT_ASN1_PRINT_FUNCTION_fname(stname, stname, stname)
+
+#define IMPLEMENT_ASN1_PRINT_FUNCTION_fname(stname, itname, fname) \
+	int fname##_print_ctx(BIO *out, stname *x, int indent, \
+						const ASN1_PCTX *pctx) \
+	{ \
+		return ASN1_item_print(out, (ASN1_VALUE *)x, indent, \
+			ASN1_ITEM_rptr(itname), pctx); \
+	} 
+
+#define IMPLEMENT_ASN1_FUNCTIONS_const(name) \
+		IMPLEMENT_ASN1_FUNCTIONS_const_fname(name, name, name)
+
+#define IMPLEMENT_ASN1_FUNCTIONS_const_fname(stname, itname, fname) \
+	IMPLEMENT_ASN1_ENCODE_FUNCTIONS_const_fname(stname, itname, fname) \
+	IMPLEMENT_ASN1_ALLOC_FUNCTIONS_fname(stname, itname, fname)
+
+/* external definitions for primitive types */
+
+DECLARE_ASN1_ITEM(ASN1_BOOLEAN)
+DECLARE_ASN1_ITEM(ASN1_TBOOLEAN)
+DECLARE_ASN1_ITEM(ASN1_FBOOLEAN)
+DECLARE_ASN1_ITEM(ASN1_SEQUENCE)
+DECLARE_ASN1_ITEM(CBIGNUM)
+DECLARE_ASN1_ITEM(BIGNUM)
+DECLARE_ASN1_ITEM(LONG)
+DECLARE_ASN1_ITEM(ZLONG)
+
+DECLARE_STACK_OF(ASN1_VALUE)
+
+/* Functions used internally by the ASN1 code */
+
+int ASN1_item_ex_new(ASN1_VALUE **pval, const ASN1_ITEM *it);
+void ASN1_item_ex_free(ASN1_VALUE **pval, const ASN1_ITEM *it);
+int ASN1_template_new(ASN1_VALUE **pval, const ASN1_TEMPLATE *tt);
+int ASN1_primitive_new(ASN1_VALUE **pval, const ASN1_ITEM *it);
+
+void ASN1_template_free(ASN1_VALUE **pval, const ASN1_TEMPLATE *tt);
+int ASN1_template_d2i(ASN1_VALUE **pval, const unsigned char **in, long len, const ASN1_TEMPLATE *tt);
+int ASN1_item_ex_d2i(ASN1_VALUE **pval, const unsigned char **in, long len, const ASN1_ITEM *it,
+				int tag, int aclass, char opt, ASN1_TLC *ctx);
+
+int ASN1_item_ex_i2d(ASN1_VALUE **pval, unsigned char **out, const ASN1_ITEM *it, int tag, int aclass);
+int ASN1_template_i2d(ASN1_VALUE **pval, unsigned char **out, const ASN1_TEMPLATE *tt);
+void ASN1_primitive_free(ASN1_VALUE **pval, const ASN1_ITEM *it);
+
+int asn1_ex_i2c(ASN1_VALUE **pval, unsigned char *cont, int *putype, const ASN1_ITEM *it);
+int asn1_ex_c2i(ASN1_VALUE **pval, const unsigned char *cont, int len, int utype, char *free_cont, const ASN1_ITEM *it);
+
+int asn1_get_choice_selector(ASN1_VALUE **pval, const ASN1_ITEM *it);
+int asn1_set_choice_selector(ASN1_VALUE **pval, int value, const ASN1_ITEM *it);
+
+ASN1_VALUE ** asn1_get_field_ptr(ASN1_VALUE **pval, const ASN1_TEMPLATE *tt);
+
+const ASN1_TEMPLATE *asn1_do_adb(ASN1_VALUE **pval, const ASN1_TEMPLATE *tt, int nullerr);
+
+void asn1_refcount_set_one(ASN1_VALUE **pval, const ASN1_ITEM *it);
+int asn1_refcount_dec_and_test_zero(ASN1_VALUE **pval, const ASN1_ITEM *it);
+
+void asn1_enc_init(ASN1_VALUE **pval, const ASN1_ITEM *it);
+void asn1_enc_free(ASN1_VALUE **pval, const ASN1_ITEM *it);
+int asn1_enc_restore(int *len, unsigned char **out, ASN1_VALUE **pval, const ASN1_ITEM *it);
+int asn1_enc_save(ASN1_VALUE **pval, const unsigned char *in, int inlen, const ASN1_ITEM *it);
+
+#ifdef  __cplusplus
+}
+#endif
+#endif

phonelibs/boringssl/include/openssl/base.h

@@ -0,0 +1,233 @@
+/* ====================================================================
+ * Copyright (c) 1998-2001 The OpenSSL Project.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer. 
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. All advertising materials mentioning features or use of this
+ *    software must display the following acknowledgment:
+ *    "This product includes software developed by the OpenSSL Project
+ *    for use in the OpenSSL Toolkit. (http://www.openssl.org/)"
+ *
+ * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    openssl-core@openssl.org.
+ *
+ * 5. Products derived from this software may not be called "OpenSSL"
+ *    nor may "OpenSSL" appear in their names without prior written
+ *    permission of the OpenSSL Project.
+ *
+ * 6. Redistributions of any form whatsoever must retain the following
+ *    acknowledgment:
+ *    "This product includes software developed by the OpenSSL Project
+ *    for use in the OpenSSL Toolkit (http://www.openssl.org/)"
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE OpenSSL PROJECT OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ * ====================================================================
+ *
+ * This product includes cryptographic software written by Eric Young
+ * (eay@cryptsoft.com).  This product includes software written by Tim
+ * Hudson (tjh@cryptsoft.com). */
+
+#ifndef OPENSSL_HEADER_BASE_H
+#define OPENSSL_HEADER_BASE_H
+
+
+/* This file should be the first included by all BoringSSL headers. */
+
+#include <stddef.h>
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <openssl/opensslfeatures.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+
+#if defined(__x86_64) || defined(_M_AMD64) || defined(_M_X64)
+#define OPENSSL_64_BIT
+#define OPENSSL_X86_64
+#elif defined(__x86) || defined(__i386) || defined(__i386__) || defined(_M_IX86)
+#define OPENSSL_32_BIT
+#define OPENSSL_X86
+#elif defined(__aarch64__)
+#define OPENSSL_64_BIT
+#define OPENSSL_AARCH64
+#elif defined(__arm) || defined(__arm__) || defined(_M_ARM)
+#define OPENSSL_32_BIT
+#define OPENSSL_ARM
+#elif defined(__aarch64__)
+#define OPENSSL_64_BIT
+#define OPENSSL_AARCH64
+#elif defined(__mips__) && !defined(__LP64__)
+#define OPENSSL_32_BIT
+#define OPENSSL_MIPS
+#elif defined(__mips__) && defined(__LP64__)
+#define OPENSSL_64_BIT
+#define OPENSSL_MIPS64
+#elif defined(__pnacl__)
+#define OPENSSL_32_BIT
+#define OPENSSL_PNACL
+#else
+#error "Unknown target CPU"
+#endif
+
+#if defined(__APPLE__)
+#define OPENSSL_APPLE
+#endif
+
+#if defined(WIN32) || defined(_WIN32)
+#define OPENSSL_WINDOWS
+#endif
+
+#if defined(TRUSTY)
+#define OPENSSL_TRUSTY
+#define OPENSSL_NO_THREADS
+#endif
+
+#define OPENSSL_IS_BORINGSSL
+#define OPENSSL_VERSION_NUMBER 0x10002000
+
+#if defined(BORINGSSL_SHARED_LIBRARY)
+
+#if defined(OPENSSL_WINDOWS)
+
+#if defined(BORINGSSL_IMPLEMENTATION)
+#define OPENSSL_EXPORT __declspec(dllexport)
+#else
+#define OPENSSL_EXPORT __declspec(dllimport)
+#endif
+
+#else  /* defined(OPENSSL_WINDOWS) */
+
+#if defined(BORINGSSL_IMPLEMENTATION)
+#define OPENSSL_EXPORT __attribute__((visibility("default")))
+#else
+#define OPENSSL_EXPORT
+#endif
+
+#endif  /* defined(OPENSSL_WINDOWS) */
+
+#else  /* defined(BORINGSSL_SHARED_LIBRARY) */
+
+#define OPENSSL_EXPORT
+
+#endif  /* defined(BORINGSSL_SHARED_LIBRARY) */
+
+/* CRYPTO_THREADID is a dummy value. */
+typedef int CRYPTO_THREADID;
+
+typedef int ASN1_BOOLEAN;
+typedef int ASN1_NULL;
+typedef struct ASN1_ITEM_st ASN1_ITEM;
+typedef struct asn1_object_st ASN1_OBJECT;
+typedef struct asn1_pctx_st ASN1_PCTX;
+typedef struct asn1_string_st ASN1_BIT_STRING;
+typedef struct asn1_string_st ASN1_BMPSTRING;
+typedef struct asn1_string_st ASN1_ENUMERATED;
+typedef struct asn1_string_st ASN1_GENERALIZEDTIME;
+typedef struct asn1_string_st ASN1_GENERALSTRING;
+typedef struct asn1_string_st ASN1_IA5STRING;
+typedef struct asn1_string_st ASN1_INTEGER;
+typedef struct asn1_string_st ASN1_OCTET_STRING;
+typedef struct asn1_string_st ASN1_PRINTABLESTRING;
+typedef struct asn1_string_st ASN1_STRING;
+typedef struct asn1_string_st ASN1_T61STRING;
+typedef struct asn1_string_st ASN1_TIME;
+typedef struct asn1_string_st ASN1_UNIVERSALSTRING;
+typedef struct asn1_string_st ASN1_UTCTIME;
+typedef struct asn1_string_st ASN1_UTF8STRING;
+typedef struct asn1_string_st ASN1_VISIBLESTRING;
+
+typedef struct AUTHORITY_KEYID_st AUTHORITY_KEYID;
+typedef struct DIST_POINT_st DIST_POINT;
+typedef struct ISSUING_DIST_POINT_st ISSUING_DIST_POINT;
+typedef struct NAME_CONSTRAINTS_st NAME_CONSTRAINTS;
+typedef struct X509_POLICY_CACHE_st X509_POLICY_CACHE;
+typedef struct X509_POLICY_LEVEL_st X509_POLICY_LEVEL;
+typedef struct X509_POLICY_NODE_st X509_POLICY_NODE;
+typedef struct X509_POLICY_TREE_st X509_POLICY_TREE;
+typedef struct X509_algor_st X509_ALGOR;
+typedef struct X509_crl_st X509_CRL;
+typedef struct X509_pubkey_st X509_PUBKEY;
+typedef struct bignum_ctx BN_CTX;
+typedef struct bignum_st BIGNUM;
+typedef struct bio_method_st BIO_METHOD;
+typedef struct bio_st BIO;
+typedef struct bn_gencb_st BN_GENCB;
+typedef struct bn_mont_ctx_st BN_MONT_CTX;
+typedef struct buf_mem_st BUF_MEM;
+typedef struct cbb_st CBB;
+typedef struct cbs_st CBS;
+typedef struct cmac_ctx_st CMAC_CTX;
+typedef struct conf_st CONF;
+typedef struct conf_value_st CONF_VALUE;
+typedef struct dh_method DH_METHOD;
+typedef struct dh_st DH;
+typedef struct dsa_method DSA_METHOD;
+typedef struct dsa_st DSA;
+typedef struct ec_key_st EC_KEY;
+typedef struct ecdsa_method_st ECDSA_METHOD;
+typedef struct ecdsa_sig_st ECDSA_SIG;
+typedef struct engine_st ENGINE;
+typedef struct env_md_ctx_st EVP_MD_CTX;
+typedef struct env_md_st EVP_MD;
+typedef struct evp_aead_st EVP_AEAD;
+typedef struct evp_cipher_ctx_st EVP_CIPHER_CTX;
+typedef struct evp_cipher_st EVP_CIPHER;
+typedef struct evp_pkey_asn1_method_st EVP_PKEY_ASN1_METHOD;
+typedef struct evp_pkey_ctx_st EVP_PKEY_CTX;
+typedef struct evp_pkey_method_st EVP_PKEY_METHOD;
+typedef struct evp_pkey_st EVP_PKEY;
+typedef struct hmac_ctx_st HMAC_CTX;
+typedef struct md4_state_st MD4_CTX;
+typedef struct md5_state_st MD5_CTX;
+typedef struct pkcs8_priv_key_info_st PKCS8_PRIV_KEY_INFO;
+typedef struct pkcs12_st PKCS12;
+typedef struct rand_meth_st RAND_METHOD;
+typedef struct rc4_key_st RC4_KEY;
+typedef struct rsa_meth_st RSA_METHOD;
+typedef struct rsa_st RSA;
+typedef struct sha256_state_st SHA256_CTX;
+typedef struct sha512_state_st SHA512_CTX;
+typedef struct sha_state_st SHA_CTX;
+typedef struct ssl_ctx_st SSL_CTX;
+typedef struct ssl_st SSL;
+typedef struct st_ERR_FNS ERR_FNS;
+typedef struct v3_ext_ctx X509V3_CTX;
+typedef struct x509_crl_method_st X509_CRL_METHOD;
+typedef struct x509_revoked_st X509_REVOKED;
+typedef struct x509_st X509;
+typedef struct x509_store_ctx_st X509_STORE_CTX;
+typedef struct x509_store_st X509_STORE;
+typedef void *OPENSSL_BLOCK;
+
+
+#if defined(__cplusplus)
+}  /* extern C */
+#endif
+
+#endif  /* OPENSSL_HEADER_BASE_H */

phonelibs/boringssl/include/openssl/base64.h

@@ -0,0 +1,179 @@
+/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
+ * All rights reserved.
+ *
+ * This package is an SSL implementation written
+ * by Eric Young (eay@cryptsoft.com).
+ * The implementation was written so as to conform with Netscapes SSL.
+ *
+ * This library is free for commercial and non-commercial use as long as
+ * the following conditions are aheared to.  The following conditions
+ * apply to all code found in this distribution, be it the RC4, RSA,
+ * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
+ * included with this distribution is covered by the same copyright terms
+ * except that the holder is Tim Hudson (tjh@cryptsoft.com).
+ *
+ * Copyright remains Eric Young's, and as such any Copyright notices in
+ * the code are not to be removed.
+ * If this package is used in a product, Eric Young should be given attribution
+ * as the author of the parts of the library used.
+ * This can be in the form of a textual message at program startup or
+ * in documentation (online or textual) provided with the package.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. All advertising materials mentioning features or use of this software
+ *    must display the following acknowledgement:
+ *    "This product includes cryptographic software written by
+ *     Eric Young (eay@cryptsoft.com)"
+ *    The word 'cryptographic' can be left out if the rouines from the library
+ *    being used are not cryptographic related :-).
+ * 4. If you include any Windows specific code (or a derivative thereof) from
+ *    the apps directory (application code) you must include an acknowledgement:
+ *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
+ *
+ * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * The licence and distribution terms for any publically available version or
+ * derivative of this code cannot be changed.  i.e. this code cannot simply be
+ * copied and put under another distribution licence
+ * [including the GNU Public Licence.] */
+
+#ifndef OPENSSL_HEADER_BASE64_H
+#define OPENSSL_HEADER_BASE64_H
+
+#include <openssl/base.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+
+/* base64 functions.
+ *
+ * For historical reasons, these functions have the EVP_ prefix but just do
+ * base64 encoding and decoding. */
+
+
+typedef struct evp_encode_ctx_st EVP_ENCODE_CTX;
+
+
+/* Encoding */
+
+/* EVP_EncodeInit initialises |*ctx|, which is typically stack
+ * allocated, for an encoding operation.
+ *
+ * NOTE: The encoding operation breaks its output with newlines every
+ * 64 characters of output (48 characters of input). Use
+ * EVP_EncodeBlock to encode raw base64. */
+OPENSSL_EXPORT void EVP_EncodeInit(EVP_ENCODE_CTX *ctx);
+
+/* EVP_EncodeUpdate encodes |in_len| bytes from |in| and writes an encoded
+ * version of them to |out| and sets |*out_len| to the number of bytes written.
+ * Some state may be contained in |ctx| so |EVP_EncodeFinal| must be used to
+ * flush it before using the encoded data. */
+OPENSSL_EXPORT void EVP_EncodeUpdate(EVP_ENCODE_CTX *ctx, uint8_t *out,
+                                     int *out_len, const uint8_t *in,
+                                     size_t in_len);
+
+/* EVP_EncodeFinal flushes any remaining output bytes from |ctx| to |out| and
+ * sets |*out_len| to the number of bytes written. */
+OPENSSL_EXPORT void EVP_EncodeFinal(EVP_ENCODE_CTX *ctx, uint8_t *out,
+                                    int *out_len);
+
+/* EVP_EncodeBlock encodes |src_len| bytes from |src| and writes the
+ * result to |dst| with a trailing NUL. It returns the number of bytes
+ * written, not including this trailing NUL. */
+OPENSSL_EXPORT size_t EVP_EncodeBlock(uint8_t *dst, const uint8_t *src,
+                                      size_t src_len);
+
+/* EVP_EncodedLength sets |*out_len| to the number of bytes that will be needed
+ * to call |EVP_EncodeBlock| on an input of length |len|. This includes the
+ * final NUL that |EVP_EncodeBlock| writes. It returns one on success or zero
+ * on error. */
+OPENSSL_EXPORT int EVP_EncodedLength(size_t *out_len, size_t len);
+
+
+/* Decoding */
+
+/* EVP_DecodedLength sets |*out_len| to the maximum number of bytes
+ * that will be needed to call |EVP_DecodeBase64| on an input of
+ * length |len|. */
+OPENSSL_EXPORT int EVP_DecodedLength(size_t *out_len, size_t len);
+
+/* EVP_DecodeBase64 decodes |in_len| bytes from base64 and writes
+ * |*out_len| bytes to |out|. |max_out| is the size of the output
+ * buffer. If it is not enough for the maximum output size, the
+ * operation fails. */
+OPENSSL_EXPORT int EVP_DecodeBase64(uint8_t *out, size_t *out_len,
+                                    size_t max_out, const uint8_t *in,
+                                    size_t in_len);
+
+/* EVP_DecodeInit initialises |*ctx|, which is typically stack allocated, for
+ * a decoding operation.
+ *
+ * TODO(davidben): This isn't a straight-up base64 decode either. Document
+ * and/or fix exactly what's going on here; maximum line length and such. */
+OPENSSL_EXPORT void EVP_DecodeInit(EVP_ENCODE_CTX *ctx);
+
+/* EVP_DecodeUpdate decodes |in_len| bytes from |in| and writes the decoded
+ * data to |out| and sets |*out_len| to the number of bytes written. Some state
+ * may be contained in |ctx| so |EVP_DecodeFinal| must be used to flush it
+ * before using the encoded data.
+ *
+ * It returns -1 on error, one if a full line of input was processed and zero
+ * if the line was short (i.e. it was the last line). */
+OPENSSL_EXPORT int EVP_DecodeUpdate(EVP_ENCODE_CTX *ctx, uint8_t *out,
+                                    int *out_len, const uint8_t *in,
+                                    size_t in_len);
+
+/* EVP_DecodeFinal flushes any remaining output bytes from |ctx| to |out| and
+ * sets |*out_len| to the number of bytes written. It returns one on success
+ * and minus one on error. */
+OPENSSL_EXPORT int EVP_DecodeFinal(EVP_ENCODE_CTX *ctx, uint8_t *out,
+                                   int *out_len);
+
+/* Deprecated: EVP_DecodeBlock encodes |src_len| bytes from |src| and
+ * writes the result to |dst|. It returns the number of bytes written
+ * or -1 on error.
+ *
+ * WARNING: EVP_DecodeBlock's return value does not take padding into
+ * account. It also strips leading whitespace and trailing
+ * whitespace. */
+OPENSSL_EXPORT int EVP_DecodeBlock(uint8_t *dst, const uint8_t *src,
+                                   size_t src_len);
+
+
+struct evp_encode_ctx_st {
+  unsigned num;    /* number saved in a partial encode/decode */
+  unsigned length; /* The length is either the output line length
+               * (in input bytes) or the shortest input line
+               * length that is ok.  Once decoding begins,
+               * the length is adjusted up each time a longer
+               * line is decoded */
+  uint8_t enc_data[80]; /* data to encode */
+  unsigned line_num;    /* number read on current line */
+  int expect_nl;
+};
+
+
+#if defined(__cplusplus)
+}  /* extern C */
+#endif
+
+#endif  /* OPENSSL_HEADER_BASE64_H */

phonelibs/boringssl/include/openssl/bio.h

@@ -0,0 +1,910 @@
+/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
+ * All rights reserved.
+ *
+ * This package is an SSL implementation written
+ * by Eric Young (eay@cryptsoft.com).
+ * The implementation was written so as to conform with Netscapes SSL.
+ *
+ * This library is free for commercial and non-commercial use as long as
+ * the following conditions are aheared to.  The following conditions
+ * apply to all code found in this distribution, be it the RC4, RSA,
+ * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
+ * included with this distribution is covered by the same copyright terms
+ * except that the holder is Tim Hudson (tjh@cryptsoft.com).
+ *
+ * Copyright remains Eric Young's, and as such any Copyright notices in
+ * the code are not to be removed.
+ * If this package is used in a product, Eric Young should be given attribution
+ * as the author of the parts of the library used.
+ * This can be in the form of a textual message at program startup or
+ * in documentation (online or textual) provided with the package.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. All advertising materials mentioning features or use of this software
+ *    must display the following acknowledgement:
+ *    "This product includes cryptographic software written by
+ *     Eric Young (eay@cryptsoft.com)"
+ *    The word 'cryptographic' can be left out if the rouines from the library
+ *    being used are not cryptographic related :-).
+ * 4. If you include any Windows specific code (or a derivative thereof) from
+ *    the apps directory (application code) you must include an acknowledgement:
+ *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
+ *
+ * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * The licence and distribution terms for any publically available version or
+ * derivative of this code cannot be changed.  i.e. this code cannot simply be
+ * copied and put under another distribution licence
+ * [including the GNU Public Licence.] */
+
+#ifndef OPENSSL_HEADER_BIO_H
+#define OPENSSL_HEADER_BIO_H
+
+#include <openssl/base.h>
+
+#include <stdio.h>  /* For FILE */
+
+#include <openssl/err.h> /* for ERR_print_errors_fp */
+#include <openssl/ex_data.h>
+#include <openssl/stack.h>
+#include <openssl/thread.h>
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+
+/* BIO abstracts over a file-descriptor like interface. */
+
+
+/* Allocation and freeing. */
+
+DEFINE_STACK_OF(BIO);
+
+/* BIO_new creates a new BIO with the given type and a reference count of one.
+ * It returns the fresh |BIO|, or NULL on error. */
+OPENSSL_EXPORT BIO *BIO_new(const BIO_METHOD *type);
+
+/* BIO_free decrements the reference count of |bio|. If the reference count
+ * drops to zero, it (optionally) calls the BIO's callback with |BIO_CB_FREE|,
+ * frees the ex_data and then, if the BIO has a destroy callback for the
+ * method, calls it. Finally it frees |bio| itself. It then repeats that for
+ * the next BIO in the chain, if any.
+ *
+ * It returns one on success or zero otherwise. */
+OPENSSL_EXPORT int BIO_free(BIO *bio);
+
+/* BIO_vfree performs the same actions as |BIO_free|, but has a void return
+ * value. This is provided for API-compat.
+ *
+ * TODO(fork): remove. */
+OPENSSL_EXPORT void BIO_vfree(BIO *bio);
+
+/* BIO_up_ref increments the reference count of |bio| and returns it. */
+OPENSSL_EXPORT BIO *BIO_up_ref(BIO *bio);
+
+
+/* Basic I/O. */
+
+/* BIO_read attempts to read |len| bytes into |data|. It returns the number of
+ * bytes read, zero on EOF, or a negative number on error. */
+OPENSSL_EXPORT int BIO_read(BIO *bio, void *data, int len);
+
+/* BIO_gets "reads a line" from |bio| and puts at most |size| bytes into |buf|.
+ * It returns the number of bytes read or a negative number on error. The
+ * phrase "reads a line" is in quotes in the previous sentence because the
+ * exact operation depends on the BIO's method. For example, a digest BIO will
+ * return the digest in response to a |BIO_gets| call.
+ *
+ * TODO(fork): audit the set of BIOs that we end up needing. If all actually
+ * return a line for this call, remove the warning above. */
+OPENSSL_EXPORT int BIO_gets(BIO *bio, char *buf, int size);
+
+/* BIO_write writes |len| bytes from |data| to BIO. It returns the number of
+ * bytes written or a negative number on error. */
+OPENSSL_EXPORT int BIO_write(BIO *bio, const void *data, int len);
+
+/* BIO_puts writes a NUL terminated string from |buf| to |bio|. It returns the
+ * number of bytes written or a negative number on error. */
+OPENSSL_EXPORT int BIO_puts(BIO *bio, const char *buf);
+
+/* BIO_flush flushes any buffered output. It returns one on success and zero
+ * otherwise. */
+OPENSSL_EXPORT int BIO_flush(BIO *bio);
+
+
+/* Low-level control functions.
+ *
+ * These are generic functions for sending control requests to a BIO. In
+ * general one should use the wrapper functions like |BIO_get_close|. */
+
+/* BIO_ctrl sends the control request |cmd| to |bio|. The |cmd| argument should
+ * be one of the |BIO_C_*| values. */
+OPENSSL_EXPORT long BIO_ctrl(BIO *bio, int cmd, long larg, void *parg);
+
+/* BIO_ptr_ctrl acts like |BIO_ctrl| but passes the address of a |void*|
+ * pointer as |parg| and returns the value that is written to it, or NULL if
+ * the control request returns <= 0. */
+OPENSSL_EXPORT char *BIO_ptr_ctrl(BIO *bp, int cmd, long larg);
+
+/* BIO_int_ctrl acts like |BIO_ctrl| but passes the address of a copy of |iarg|
+ * as |parg|. */
+OPENSSL_EXPORT long BIO_int_ctrl(BIO *bp, int cmd, long larg, int iarg);
+
+/* BIO_reset resets |bio| to its initial state, the precise meaning of which
+ * depends on the concrete type of |bio|. It returns one on success and zero
+ * otherwise. */
+OPENSSL_EXPORT int BIO_reset(BIO *bio);
+
+/* BIO_set_flags ORs |flags| with |bio->flags|. */
+OPENSSL_EXPORT void BIO_set_flags(BIO *bio, int flags);
+
+/* BIO_test_flags returns |bio->flags| AND |flags|. */
+OPENSSL_EXPORT int BIO_test_flags(const BIO *bio, int flags);
+
+/* BIO_should_read returns non-zero if |bio| encountered a temporary error
+ * while reading (i.e. EAGAIN), indicating that the caller should retry the
+ * read. */
+OPENSSL_EXPORT int BIO_should_read(const BIO *bio);
+
+/* BIO_should_write returns non-zero if |bio| encountered a temporary error
+ * while writing (i.e. EAGAIN), indicating that the caller should retry the
+ * write. */
+OPENSSL_EXPORT int BIO_should_write(const BIO *bio);
+
+/* BIO_should_retry returns non-zero if the reason that caused a failed I/O
+ * operation is temporary and thus the operation should be retried. Otherwise,
+ * it was a permanent error and it returns zero. */
+OPENSSL_EXPORT int BIO_should_retry(const BIO *bio);
+
+/* BIO_should_io_special returns non-zero if |bio| encountered a temporary
+ * error while performing a special I/O operation, indicating that the caller
+ * should retry. The operation that caused the error is returned by
+ * |BIO_get_retry_reason|. */
+OPENSSL_EXPORT int BIO_should_io_special(const BIO *bio);
+
+/* BIO_RR_SSL_X509_LOOKUP indicates that an SSL BIO blocked because the SSL
+ * library returned with SSL_ERROR_WANT_X509_LOOKUP.
+ *
+ * TODO(fork): remove. */
+#define BIO_RR_SSL_X509_LOOKUP 0x01
+
+/* BIO_RR_CONNECT indicates that a connect would have blocked */
+#define BIO_RR_CONNECT 0x02
+
+/* BIO_RR_ACCEPT indicates that an accept would have blocked */
+#define BIO_RR_ACCEPT 0x03
+
+/* BIO_RR_SSL_CHANNEL_ID_LOOKUP indicates that the ChannelID code cannot find
+ * a private key for a TLS connection. */
+#define BIO_RR_SSL_CHANNEL_ID_LOOKUP 0x04
+
+/* BIO_get_retry_reason returns the special I/O operation that needs to be
+ * retried. The return value is one of the |BIO_RR_*| values. */
+OPENSSL_EXPORT int BIO_get_retry_reason(const BIO *bio);
+
+/* BIO_clear_flags ANDs |bio->flags| with the bitwise-complement of |flags|. */
+OPENSSL_EXPORT void BIO_clear_flags(BIO *bio, int flags);
+
+/* BIO_set_retry_read sets the |BIO_FLAGS_READ| and |BIO_FLAGS_SHOULD_RETRY|
+ * flags on |bio|. */
+OPENSSL_EXPORT void BIO_set_retry_read(BIO *bio);
+
+/* BIO_set_retry_read sets the |BIO_FLAGS_WRITE| and |BIO_FLAGS_SHOULD_RETRY|
+ * flags on |bio|. */
+OPENSSL_EXPORT void BIO_set_retry_write(BIO *bio);
+
+/* BIO_get_retry_flags gets the |BIO_FLAGS_READ|, |BIO_FLAGS_WRITE|,
+ * |BIO_FLAGS_IO_SPECIAL| and |BIO_FLAGS_SHOULD_RETRY| flags from |bio|. */
+OPENSSL_EXPORT int BIO_get_retry_flags(BIO *bio);
+
+/* BIO_clear_retry_flags clears the |BIO_FLAGS_READ|, |BIO_FLAGS_WRITE|,
+ * |BIO_FLAGS_IO_SPECIAL| and |BIO_FLAGS_SHOULD_RETRY| flags from |bio|. */
+OPENSSL_EXPORT void BIO_clear_retry_flags(BIO *bio);
+
+/* BIO_method_type returns the type of |bio|, which is one of the |BIO_TYPE_*|
+ * values. */
+OPENSSL_EXPORT int BIO_method_type(const BIO *bio);
+
+/* bio_info_cb is the type of a callback function that can be called for most
+ * BIO operations. The |event| argument is one of |BIO_CB_*| and can be ORed
+ * with |BIO_CB_RETURN| if the callback is being made after the operation in
+ * question. In that case, |return_value| will contain the return value from
+ * the operation. */
+typedef long (*bio_info_cb)(BIO *bio, int event, const char *parg, int cmd,
+                            long larg, long return_value);
+
+/* BIO_callback_ctrl allows the callback function to be manipulated. The |cmd|
+ * arg will generally be |BIO_CTRL_SET_CALLBACK| but arbitary command values
+ * can be interpreted by the |BIO|. */
+OPENSSL_EXPORT long BIO_callback_ctrl(BIO *bio, int cmd, bio_info_cb fp);
+
+/* BIO_pending returns the number of bytes pending to be read. */
+OPENSSL_EXPORT size_t BIO_pending(const BIO *bio);
+
+/* BIO_ctrl_pending calls |BIO_pending| and exists only for compatibility with
+ * OpenSSL. */
+OPENSSL_EXPORT size_t BIO_ctrl_pending(const BIO *bio);
+
+/* BIO_wpending returns the number of bytes pending to be written. */
+OPENSSL_EXPORT size_t BIO_wpending(const BIO *bio);
+
+/* BIO_set_close sets the close flag for |bio|. The meaning of which depends on
+ * the type of |bio| but, for example, a memory BIO interprets the close flag
+ * as meaning that it owns its buffer. It returns one on success and zero
+ * otherwise. */
+OPENSSL_EXPORT int BIO_set_close(BIO *bio, int close_flag);
+
+/* BIO_set_callback sets a callback function that will be called before and
+ * after most operations. See the comment above |bio_info_cb|. */
+OPENSSL_EXPORT void BIO_set_callback(BIO *bio, bio_info_cb callback_func);
+
+/* BIO_set_callback_arg sets the opaque pointer value that can be read within a
+ * callback with |BIO_get_callback_arg|. */
+OPENSSL_EXPORT void BIO_set_callback_arg(BIO *bio, char *arg);
+
+/* BIO_get_callback_arg returns the last value of the opaque callback pointer
+ * set by |BIO_set_callback_arg|. */
+OPENSSL_EXPORT char *BIO_get_callback_arg(const BIO *bio);
+
+/* BIO_number_read returns the number of bytes that have been read from
+ * |bio|. */
+OPENSSL_EXPORT size_t BIO_number_read(const BIO *bio);
+
+/* BIO_number_written returns the number of bytes that have been written to
+ * |bio|. */
+OPENSSL_EXPORT size_t BIO_number_written(const BIO *bio);
+
+
+/* Managing chains of BIOs.
+ *
+ * BIOs can be put into chains where the output of one is used as the input of
+ * the next etc. The most common case is a buffering BIO, which accepts and
+ * buffers writes until flushed into the next BIO in the chain. */
+
+/* BIO_push adds |appended_bio| to the end of the chain with |bio| at the head.
+ * It returns |bio|. Note that |appended_bio| may be the head of a chain itself
+ * and thus this function can be used to join two chains.
+ *
+ * BIO_push takes ownership of the caller's reference to |appended_bio|. */
+OPENSSL_EXPORT BIO *BIO_push(BIO *bio, BIO *appended_bio);
+
+/* BIO_pop removes |bio| from the head of a chain and returns the next BIO in
+ * the chain, or NULL if there is no next BIO.
+ *
+ * The caller takes ownership of the chain's reference to |bio|. */
+OPENSSL_EXPORT BIO *BIO_pop(BIO *bio);
+
+/* BIO_next returns the next BIO in the chain after |bio|, or NULL if there is
+ * no such BIO. */
+OPENSSL_EXPORT BIO *BIO_next(BIO *bio);
+
+/* BIO_free_all calls |BIO_free|.
+ *
+ * TODO(fork): update callers and remove. */
+OPENSSL_EXPORT void BIO_free_all(BIO *bio);
+
+/* BIO_find_type walks a chain of BIOs and returns the first that matches
+ * |type|, which is one of the |BIO_TYPE_*| values. */
+OPENSSL_EXPORT BIO *BIO_find_type(BIO *bio, int type);
+
+/* BIO_copy_next_retry sets the retry flags and |retry_reason| of |bio| from
+ * the next BIO in the chain. */
+OPENSSL_EXPORT void BIO_copy_next_retry(BIO *bio);
+
+
+/* Printf functions.
+ *
+ * These functions are versions of printf functions that output to a BIO rather
+ * than a FILE. */
+#ifdef __GNUC__
+#define __bio_h__attr__ __attribute__
+#else
+#define __bio_h__attr__(x)
+#endif
+OPENSSL_EXPORT int BIO_printf(BIO *bio, const char *format, ...)
+    __bio_h__attr__((__format__(__printf__, 2, 3)));
+#undef __bio_h__attr__
+
+
+/* Utility functions. */
+
+/* BIO_indent prints min(|indent|, |max_indent|) spaces. It returns one on
+ * success and zero otherwise. */
+OPENSSL_EXPORT int BIO_indent(BIO *bio, unsigned indent, unsigned max_indent);
+
+/* BIO_hexdump writes a hex dump of |data| to |bio|. Each line will be indented
+ * by |indent| spaces. */
+OPENSSL_EXPORT int BIO_hexdump(BIO *bio, const uint8_t *data, size_t len,
+                               unsigned indent);
+
+/* BIO_print_errors prints the current contents of the error stack to |bio|
+ * using human readable strings where possible. */
+OPENSSL_EXPORT void BIO_print_errors(BIO *bio);
+
+/* BIO_read_asn1 reads a single ASN.1 object from |bio|. If successful it sets
+ * |*out| to be an allocated buffer (that should be freed with |OPENSSL_free|),
+ * |*out_size| to the length, in bytes, of that buffer and returns one.
+ * Otherwise it returns zero.
+ *
+ * If the length of the object is greater than |max_len| or 2^32 then the
+ * function will fail. Long-form tags are not supported. If the length of the
+ * object is indefinite the full contents of |bio| are read, unless it would be
+ * greater than |max_len|, in which case the function fails.
+ *
+ * If the function fails then some unknown amount of data may have been read
+ * from |bio|. */
+OPENSSL_EXPORT int BIO_read_asn1(BIO *bio, uint8_t **out, size_t *out_len,
+                                 size_t max_len);
+
+
+/* Memory BIOs.
+ *
+ * Memory BIOs can be used as a read-only source (with |BIO_new_mem_buf|) or a
+ * writable sink (with |BIO_new|, |BIO_s_mem| and |BIO_get_mem_buf|). Data
+ * written to a writable, memory BIO can be recalled by reading from it.
+ *
+ * Calling |BIO_reset| on a read-only BIO resets it to the original contents.
+ * On a writable BIO, it clears any data.
+ *
+ * If the close flag is set to |BIO_NOCLOSE| (not the default) then the
+ * underlying |BUF_MEM| will not be freed when the |BIO| is freed.
+ *
+ * Memory BIOs support |BIO_gets| and |BIO_puts|.
+ *
+ * |BIO_eof| is true if no data is in the BIO.
+ *
+ * |BIO_ctrl_pending| returns the number of bytes currently stored. */
+
+/* BIO_s_mem returns a |BIO_METHOD| that uses a in-memory buffer. */
+OPENSSL_EXPORT const BIO_METHOD *BIO_s_mem(void);
+
+/* BIO_new_mem_buf creates BIO that reads and writes from |len| bytes at |buf|.
+ * It does not take ownership of |buf|. It returns the BIO or NULL on error.
+ *
+ * If |len| is negative, then |buf| is treated as a NUL-terminated string, but
+ * don't depend on this in new code. */
+OPENSSL_EXPORT BIO *BIO_new_mem_buf(void *buf, int len);
+
+/* BIO_mem_contents sets |*out_contents| to point to the current contents of
+ * |bio| and |*out_len| to contain the length of that data. It returns one on
+ * success and zero otherwise. */
+OPENSSL_EXPORT int BIO_mem_contents(const BIO *bio,
+                                    const uint8_t **out_contents,
+                                    size_t *out_len);
+
+/* BIO_get_mem_data sets |*contents| to point to the current contents of |bio|
+ * and returns the length of the data.
+ *
+ * WARNING: don't use this, use |BIO_mem_contents|. A return value of zero from
+ * this function can mean either that it failed or that the memory buffer is
+ * empty. */
+OPENSSL_EXPORT long BIO_get_mem_data(BIO *bio, char **contents);
+
+/* BIO_get_mem_ptr sets |*out| to a BUF_MEM containing the current contents of
+ * |bio|. It returns one on success or zero on error. */
+OPENSSL_EXPORT int BIO_get_mem_ptr(BIO *bio, BUF_MEM **out);
+
+/* BIO_set_mem_buf sets |b| as the contents of |bio|. If |take_ownership| is
+ * non-zero, then |b| will be freed when |bio| is closed. Returns one on
+ * success or zero otherwise. */
+OPENSSL_EXPORT int BIO_set_mem_buf(BIO *bio, BUF_MEM *b, int take_ownership);
+
+/* BIO_set_mem_eof_return sets the value that will be returned from reading
+ * |bio| when empty. If |eof_value| is zero then an empty memory BIO will
+ * return EOF (that is it will return zero and |BIO_should_retry| will be
+ * false). If |eof_value| is non zero then it will return |eof_value| when it
+ * is empty and it will set the read retry flag (that is |BIO_read_retry| is
+ * true). To avoid ambiguity with a normal positive return value, |eof_value|
+ * should be set to a negative value, typically -1.
+ *
+ * For a read-only BIO, the default is zero (EOF). For a writable BIO, the
+ * default is -1 so that additional data can be written once exhausted. */
+OPENSSL_EXPORT int BIO_set_mem_eof_return(BIO *bio, int eof_value);
+
+
+/* File descriptor BIOs.
+ *
+ * File descriptor BIOs are wrappers around the system's |read| and |write|
+ * functions. If the close flag is set then then |close| is called on the
+ * underlying file descriptor when the BIO is freed.
+ *
+ * |BIO_reset| attempts to seek the file pointer to the start of file using
+ * |lseek|.
+ *
+ * |BIO_seek| sets the file pointer to position |off| from start of file using
+ * |lseek|.
+ *
+ * |BIO_tell| returns the current file position. */
+
+/* BIO_s_fd returns a |BIO_METHOD| for file descriptor fds. */
+OPENSSL_EXPORT const BIO_METHOD *BIO_s_fd(void);
+
+/* BIO_new_fd creates a new file descriptor BIO wrapping |fd|. If |close_flag|
+ * is non-zero, then |fd| will be closed when the BIO is. */
+OPENSSL_EXPORT BIO *BIO_new_fd(int fd, int close_flag);
+
+/* BIO_set_fd sets the file descriptor of |bio| to |fd|. If |close_flag| is
+ * non-zero then |fd| will be closed when |bio| is. It returns one on success
+ * or zero on error. */
+OPENSSL_EXPORT int BIO_set_fd(BIO *bio, int fd, int close_flag);
+
+/* BIO_get_fd sets |*out_fd| to the file descriptor currently in use by |bio|.
+ * It returns one on success and zero on error. */
+OPENSSL_EXPORT int BIO_get_fd(BIO *bio, int *out_fd);
+
+
+/* File BIOs.
+ *
+ * File BIOs are wrappers around a C |FILE| object.
+ *
+ * |BIO_flush| on a file BIO calls |fflush| on the wrapped stream.
+ *
+ * |BIO_reset| attempts to seek the file pointer to the start of file using
+ * |fseek|.
+ *
+ * |BIO_seek| sets the file pointer to the given position from the start of
+ * file using |fseek|.
+ *
+ * |BIO_eof| calls |feof|.
+ *
+ * Setting the close flag causes |fclose| to be called on the stream when the
+ * BIO is freed. */
+
+/* BIO_s_file returns a BIO_METHOD that wraps a |FILE|. */
+OPENSSL_EXPORT const BIO_METHOD *BIO_s_file(void);
+
+/* BIO_new_file creates a file BIO by opening |filename| with the given mode.
+ * See the |fopen| manual page for details of the mode argument. */
+OPENSSL_EXPORT BIO *BIO_new_file(const char *filename, const char *mode);
+
+/* BIO_new_fp creates a new file BIO that wraps the given |FILE|. If
+ * |close_flag| is |BIO_CLOSE|, then |fclose| will be called on |stream| when
+ * the BIO is closed. */
+OPENSSL_EXPORT BIO *BIO_new_fp(FILE *stream, int close_flag);
+
+/* BIO_get_fp sets |*out_file| to the current |FILE| for |bio|. It returns one
+ * on success and zero otherwise. */
+OPENSSL_EXPORT int BIO_get_fp(BIO *bio, FILE **out_file);
+
+/* BIO_set_fp sets the |FILE| for |bio|. If |close_flag| is |BIO_CLOSE| then
+ * |fclose| will be called on |file| when |bio| is closed. It returns one on
+ * sucess and zero otherwise. */
+OPENSSL_EXPORT int BIO_set_fp(BIO *bio, FILE *file, int close_flag);
+
+/* BIO_read_filename opens |filename| for reading and sets the result as the
+ * |FILE| for |bio|. It returns one on success and zero otherwise. The |FILE|
+ * will be closed when |bio| is freed. */
+OPENSSL_EXPORT int BIO_read_filename(BIO *bio, const char *filename);
+
+/* BIO_write_filename opens |filename| for writing and sets the result as the
+ * |FILE| for |bio|. It returns one on success and zero otherwise. The |FILE|
+ * will be closed when |bio| is freed. */
+OPENSSL_EXPORT int BIO_write_filename(BIO *bio, const char *filename);
+
+/* BIO_append_filename opens |filename| for appending and sets the result as
+ * the |FILE| for |bio|. It returns one on success and zero otherwise. The
+ * |FILE| will be closed when |bio| is freed. */
+OPENSSL_EXPORT int BIO_append_filename(BIO *bio, const char *filename);
+
+/* BIO_rw_filename opens |filename| for reading and writing and sets the result
+ * as the |FILE| for |bio|. It returns one on success and zero otherwise. The
+ * |FILE| will be closed when |bio| is freed. */
+OPENSSL_EXPORT int BIO_rw_filename(BIO *bio, const char *filename);
+
+
+/* Buffer BIOs.
+ *
+ * Buffer BIOs are a filter-type BIO, i.e. they are designed to be used in a
+ * chain of BIOs. They provide buffering to reduce the number of operations on
+ * the underlying BIOs. */
+
+OPENSSL_EXPORT const BIO_METHOD *BIO_f_buffer(void);
+
+/* BIO_set_read_buffer_size sets the size, in bytes, of the read buffer and
+ * clears it. It returns one on success and zero on failure. */
+OPENSSL_EXPORT int BIO_set_read_buffer_size(BIO *bio, int buffer_size);
+
+/* BIO_set_write_buffer_size sets the size, in bytes, of the write buffer and
+ * clears it. It returns one on success and zero on failure. */
+OPENSSL_EXPORT int BIO_set_write_buffer_size(BIO *bio, int buffer_size);
+
+
+/* Socket BIOs. */
+
+OPENSSL_EXPORT const BIO_METHOD *BIO_s_socket(void);
+
+/* BIO_new_socket allocates and initialises a fresh BIO which will read and
+ * write to the socket |fd|. If |close_flag| is |BIO_CLOSE| then closing the
+ * BIO will close |fd|. It returns the fresh |BIO| or NULL on error. */
+OPENSSL_EXPORT BIO *BIO_new_socket(int fd, int close_flag);
+
+
+/* Connect BIOs.
+ *
+ * A connection BIO creates a network connection and transfers data over the
+ * resulting socket. */
+
+OPENSSL_EXPORT const BIO_METHOD *BIO_s_connect(void);
+
+/* BIO_new_connect returns a BIO that connects to the given hostname and port.
+ * The |host_and_optional_port| argument should be of the form
+ * "www.example.com" or "www.example.com:443". If the port is omitted, it must
+ * be provided with |BIO_set_conn_port|.
+ *
+ * It returns the new BIO on success, or NULL on error. */
+OPENSSL_EXPORT BIO *BIO_new_connect(const char *host_and_optional_port);
+
+/* BIO_set_conn_hostname sets |host_and_optional_port| as the hostname and
+ * optional port that |bio| will connect to. If the port is omitted, it must be
+ * provided with |BIO_set_conn_port|.
+ *
+ * It returns one on success and zero otherwise. */
+OPENSSL_EXPORT int BIO_set_conn_hostname(BIO *bio,
+                                         const char *host_and_optional_port);
+
+/* BIO_set_conn_port sets |port_str| as the port or service name that |bio|
+ * will connect to. It returns one on success and zero otherwise. */
+OPENSSL_EXPORT int BIO_set_conn_port(BIO *bio, const char *port_str);
+
+/* BIO_set_nbio sets whether |bio| will use non-blocking I/O operations. It
+ * returns one on success and zero otherwise. */
+OPENSSL_EXPORT int BIO_set_nbio(BIO *bio, int on);
+
+
+/* Datagram BIOs.
+ *
+ * TODO(fork): not implemented. */
+
+#define BIO_CTRL_DGRAM_QUERY_MTU 40 /* as kernel for current MTU */
+
+#define BIO_CTRL_DGRAM_SET_MTU 42 /* set cached value for  MTU. want to use
+                                     this if asking the kernel fails */
+
+#define BIO_CTRL_DGRAM_MTU_EXCEEDED 43 /* check whether the MTU was exceed in
+                                          the previous write operation. */
+
+#define BIO_CTRL_DGRAM_SET_NEXT_TIMEOUT \
+  45 /* Next DTLS handshake timeout to adjust socket timeouts */
+
+#define BIO_CTRL_DGRAM_GET_PEER           46
+
+#define BIO_CTRL_DGRAM_GET_FALLBACK_MTU   47
+
+
+/* BIO Pairs.
+ *
+ * BIO pairs provide a "loopback" like system: a pair of BIOs where data
+ * written to one can be read from the other and vice versa. */
+
+/* BIO_new_bio_pair sets |*out1| and |*out2| to two freshly created BIOs where
+ * data written to one can be read from the other and vice versa. The
+ * |writebuf1| argument gives the size of the buffer used in |*out1| and
+ * |writebuf2| for |*out2|. It returns one on success and zero on error. */
+OPENSSL_EXPORT int BIO_new_bio_pair(BIO **out1, size_t writebuf1, BIO **out2,
+                                    size_t writebuf2);
+
+/* BIO_new_bio_pair_external_buf is the same as |BIO_new_bio_pair| with the
+ * difference that the caller keeps ownership of the write buffers
+ * |ext_writebuf1_len| and |ext_writebuf2_len|. This is useful when using zero
+ * copy API for read and write operations, in cases where the buffers need to
+ * outlive the BIO pairs. It returns one on success and zero on error. */
+OPENSSL_EXPORT int BIO_new_bio_pair_external_buf(BIO** bio1_p,
+                                                 size_t writebuf1_len,
+                                                 uint8_t* ext_writebuf1,
+                                                 BIO** bio2_p,
+                                                 size_t writebuf2_len,
+                                                 uint8_t* ext_writebuf2);
+
+/* BIO_ctrl_get_read_request returns the number of bytes that the other side of
+ * |bio| tried (unsuccessfully) to read. */
+OPENSSL_EXPORT size_t BIO_ctrl_get_read_request(BIO *bio);
+
+/* BIO_ctrl_get_write_guarantee returns the number of bytes that |bio| (which
+ * must have been returned by |BIO_new_bio_pair|) will accept on the next
+ * |BIO_write| call. */
+OPENSSL_EXPORT size_t BIO_ctrl_get_write_guarantee(BIO *bio);
+
+/* BIO_shutdown_wr marks |bio| as closed, from the point of view of the other
+ * side of the pair. Future |BIO_write| calls on |bio| will fail. It returns
+ * one on success and zero otherwise. */
+OPENSSL_EXPORT int BIO_shutdown_wr(BIO *bio);
+
+
+/* Zero copy versions of BIO_read and BIO_write for BIO pairs. */
+
+/* BIO_zero_copy_get_read_buf initiates a zero copy read operation.
+ * |out_read_buf| is set to the internal read buffer, and |out_buf_offset| is
+ * set to the current read position of |out_read_buf|. The number of bytes
+ * available for read from |out_read_buf| + |out_buf_offset| is returned in
+ * |out_available_bytes|. Note that this function might report fewer bytes
+ * available than |BIO_pending|, if the internal ring buffer is wrapped. It
+ * returns one on success. In case of error it returns zero and pushes to the
+ * error stack.
+ *
+ * The zero copy read operation is completed by calling
+ * |BIO_zero_copy_get_read_buf_done|. Neither |BIO_zero_copy_get_read_buf| nor
+ * any other I/O read operation may be called while a zero copy read operation
+ * is active. */
+OPENSSL_EXPORT int BIO_zero_copy_get_read_buf(BIO* bio,
+                                              uint8_t** out_read_buf,
+                                              size_t* out_buf_offset,
+                                              size_t* out_available_bytes);
+
+/* BIO_zero_copy_get_read_buf_done must be called after reading from a BIO using
+ * |BIO_zero_copy_get_read_buf| to finish the read operation. The |bytes_read|
+ * argument is the number of bytes read.
+ *
+ * It returns one on success. In case of error it returns zero and pushes to the
+ * error stack. */
+OPENSSL_EXPORT int BIO_zero_copy_get_read_buf_done(BIO* bio, size_t bytes_read);
+
+/* BIO_zero_copy_get_write_buf_done initiates a zero copy write operation.
+ * |out_write_buf| is set to to the internal write buffer, and |out_buf_offset|
+ * is set to the current write position of |out_write_buf|.
+ * The number of bytes available for write from |out_write_buf| +
+ * |out_buf_offset| is returned in |out_available_bytes|. Note that this
+ * function might report fewer bytes available than
+ * |BIO_ctrl_get_write_guarantee|, if the internal buffer is wrapped. It returns
+ * one on success. In case of error it returns zero and pushes to the error
+ * stack.
+ *
+ * The zero copy write operation is completed by calling
+ * |BIO_zero_copy_write_buf_done|. Neither |BIO_zero_copy_get_write_buf|
+ * nor any other I/O write operation may be called while a zero copy write
+ * operation is active. */
+OPENSSL_EXPORT int BIO_zero_copy_get_write_buf(BIO* bio,
+                                               uint8_t** out_write_buf,
+                                               size_t* out_buf_offset,
+                                               size_t* out_available_bytes);
+
+/* BIO_zero_copy_write_buf_done must be called after writing to a BIO using
+ * |BIO_zero_copy_get_write_buf_done| to finish the write operation. The
+ * |bytes_written| argument gives the number of bytes written.
+ *
+ * It returns one on success. In case of error it returns zero and pushes to the
+ * error stack. */
+OPENSSL_EXPORT int BIO_zero_copy_get_write_buf_done(BIO* bio,
+                                                    size_t bytes_written);
+
+
+/* BIO_NOCLOSE and |BIO_CLOSE| can be used as symbolic arguments when a "close
+ * flag" is passed to a BIO function. */
+#define BIO_NOCLOSE 0
+#define BIO_CLOSE 1
+
+/* These are passed to the BIO callback */
+#define BIO_CB_FREE 0x01
+#define BIO_CB_READ 0x02
+#define BIO_CB_WRITE 0x03
+#define BIO_CB_PUTS 0x04
+#define BIO_CB_GETS 0x05
+#define BIO_CB_CTRL 0x06
+
+/* The callback is called before and after the underling operation,
+ * The BIO_CB_RETURN flag indicates if it is after the call */
+#define BIO_CB_RETURN 0x80
+
+/* These are values of the |cmd| argument to |BIO_ctrl|. */
+#define BIO_CTRL_RESET		1  /* opt - rewind/zero etc */
+#define BIO_CTRL_EOF		2  /* opt - are we at the eof */
+#define BIO_CTRL_INFO		3  /* opt - extra tit-bits */
+#define BIO_CTRL_SET		4  /* man - set the 'IO' type */
+#define BIO_CTRL_GET		5  /* man - get the 'IO' type */
+#define BIO_CTRL_GET_CLOSE	8  /* man - set the 'close' on free */
+#define BIO_CTRL_SET_CLOSE	9  /* man - set the 'close' on free */
+#define BIO_CTRL_PENDING	10  /* opt - is their more data buffered */
+#define BIO_CTRL_FLUSH		11  /* opt - 'flush' buffered output */
+#define BIO_CTRL_WPENDING	13  /* opt - number of bytes still to write */
+/* callback is int cb(BIO *bio,state,ret); */
+#define BIO_CTRL_SET_CALLBACK	14  /* opt - set callback function */
+#define BIO_CTRL_GET_CALLBACK	15  /* opt - set callback function */
+#define BIO_CTRL_SET_FILENAME	30	/* BIO_s_file special */
+
+
+/* Android compatibility section.
+ *
+ * A previous version of BoringSSL used in Android renamed ERR_print_errors_fp
+ * to BIO_print_errors_fp. It has subsequently been renamed back to
+ * ERR_print_errors_fp. */
+#define BIO_print_errors_fp ERR_print_errors_fp
+
+
+/* Private functions */
+
+#define BIO_FLAGS_READ 0x01
+#define BIO_FLAGS_WRITE 0x02
+#define BIO_FLAGS_IO_SPECIAL 0x04
+#define BIO_FLAGS_RWS (BIO_FLAGS_READ | BIO_FLAGS_WRITE | BIO_FLAGS_IO_SPECIAL)
+#define BIO_FLAGS_SHOULD_RETRY 0x08
+#define BIO_FLAGS_BASE64_NO_NL 0x100
+/* This is used with memory BIOs: it means we shouldn't free up or change the
+ * data in any way. */
+#define BIO_FLAGS_MEM_RDONLY 0x200
+
+/* These are the 'types' of BIOs */
+#define BIO_TYPE_NONE 0
+#define BIO_TYPE_MEM (1 | 0x0400)
+#define BIO_TYPE_FILE (2 | 0x0400)
+#define BIO_TYPE_FD (4 | 0x0400 | 0x0100)
+#define BIO_TYPE_SOCKET (5 | 0x0400 | 0x0100)
+#define BIO_TYPE_NULL (6 | 0x0400)
+#define BIO_TYPE_SSL (7 | 0x0200)
+#define BIO_TYPE_MD (8 | 0x0200)                /* passive filter */
+#define BIO_TYPE_BUFFER (9 | 0x0200)            /* filter */
+#define BIO_TYPE_CIPHER (10 | 0x0200)           /* filter */
+#define BIO_TYPE_BASE64 (11 | 0x0200)           /* filter */
+#define BIO_TYPE_CONNECT (12 | 0x0400 | 0x0100) /* socket - connect */
+#define BIO_TYPE_ACCEPT (13 | 0x0400 | 0x0100)  /* socket for accept */
+#define BIO_TYPE_PROXY_CLIENT (14 | 0x0200)     /* client proxy BIO */
+#define BIO_TYPE_PROXY_SERVER (15 | 0x0200)     /* server proxy BIO */
+#define BIO_TYPE_NBIO_TEST (16 | 0x0200)        /* server proxy BIO */
+#define BIO_TYPE_NULL_FILTER (17 | 0x0200)
+#define BIO_TYPE_BER (18 | 0x0200)        /* BER -> bin filter */
+#define BIO_TYPE_BIO (19 | 0x0400)        /* (half a) BIO pair */
+#define BIO_TYPE_LINEBUFFER (20 | 0x0200) /* filter */
+#define BIO_TYPE_DGRAM (21 | 0x0400 | 0x0100)
+#define BIO_TYPE_ASN1 (22 | 0x0200) /* filter */
+#define BIO_TYPE_COMP (23 | 0x0200) /* filter */
+
+#define BIO_TYPE_DESCRIPTOR 0x0100 /* socket, fd, connect or accept */
+#define BIO_TYPE_FILTER 0x0200
+#define BIO_TYPE_SOURCE_SINK 0x0400
+
+struct bio_method_st {
+  int type;
+  const char *name;
+  int (*bwrite)(BIO *, const char *, int);
+  int (*bread)(BIO *, char *, int);
+  /* TODO(fork): remove bputs. */
+  int (*bputs)(BIO *, const char *);
+  int (*bgets)(BIO *, char *, int);
+  long (*ctrl)(BIO *, int, long, void *);
+  int (*create)(BIO *);
+  int (*destroy)(BIO *);
+  long (*callback_ctrl)(BIO *, int, bio_info_cb);
+};
+
+struct bio_st {
+  const BIO_METHOD *method;
+  /* bio, mode, argp, argi, argl, ret */
+  long (*callback)(struct bio_st *, int, const char *, int, long, long);
+  char *cb_arg; /* first argument for the callback */
+
+  /* init is non-zero if this |BIO| has been initialised. */
+  int init;
+  /* shutdown is often used by specific |BIO_METHOD|s to determine whether
+   * they own some underlying resource. This flag can often by controlled by
+   * |BIO_set_close|. For example, whether an fd BIO closes the underlying fd
+   * when it, itself, is closed. */
+  int shutdown;
+  int flags;
+  int retry_reason;
+  /* num is a BIO-specific value. For example, in fd BIOs it's used to store a
+   * file descriptor. */
+  int num;
+  CRYPTO_refcount_t references;
+  void *ptr;
+  /* next_bio points to the next |BIO| in a chain. This |BIO| owns a reference
+   * to |next_bio|. */
+  struct bio_st *next_bio; /* used by filter BIOs */
+  size_t num_read, num_write;
+};
+
+#define BIO_C_SET_CONNECT			100
+#define BIO_C_DO_STATE_MACHINE			101
+#define BIO_C_SET_NBIO				102
+#define BIO_C_SET_PROXY_PARAM			103
+#define BIO_C_SET_FD				104
+#define BIO_C_GET_FD				105
+#define BIO_C_SET_FILE_PTR			106
+#define BIO_C_GET_FILE_PTR			107
+#define BIO_C_SET_FILENAME			108
+#define BIO_C_SET_SSL				109
+#define BIO_C_GET_SSL				110
+#define BIO_C_SET_MD				111
+#define BIO_C_GET_MD				112
+#define BIO_C_GET_CIPHER_STATUS			113
+#define BIO_C_SET_BUF_MEM			114
+#define BIO_C_GET_BUF_MEM_PTR			115
+#define BIO_C_GET_BUFF_NUM_LINES		116
+#define BIO_C_SET_BUFF_SIZE			117
+#define BIO_C_SET_ACCEPT			118
+#define BIO_C_SSL_MODE				119
+#define BIO_C_GET_MD_CTX			120
+#define BIO_C_GET_PROXY_PARAM			121
+#define BIO_C_SET_BUFF_READ_DATA		122 /* data to read first */
+#define BIO_C_GET_CONNECT			123
+#define BIO_C_GET_ACCEPT			124
+#define BIO_C_SET_SSL_RENEGOTIATE_BYTES		125
+#define BIO_C_GET_SSL_NUM_RENEGOTIATES		126
+#define BIO_C_SET_SSL_RENEGOTIATE_TIMEOUT	127
+#define BIO_C_FILE_SEEK				128
+#define BIO_C_GET_CIPHER_CTX			129
+#define BIO_C_SET_BUF_MEM_EOF_RETURN		130/*return end of input value*/
+#define BIO_C_SET_BIND_MODE			131
+#define BIO_C_GET_BIND_MODE			132
+#define BIO_C_FILE_TELL				133
+#define BIO_C_GET_SOCKS				134
+#define BIO_C_SET_SOCKS				135
+
+#define BIO_C_SET_WRITE_BUF_SIZE		136/* for BIO_s_bio */
+#define BIO_C_GET_WRITE_BUF_SIZE		137
+#define BIO_C_GET_WRITE_GUARANTEE		140
+#define BIO_C_GET_READ_REQUEST			141
+#define BIO_C_SHUTDOWN_WR			142
+#define BIO_C_NREAD0				143
+#define BIO_C_NREAD				144
+#define BIO_C_NWRITE0				145
+#define BIO_C_NWRITE				146
+#define BIO_C_RESET_READ_REQUEST		147
+#define BIO_C_SET_MD_CTX			148
+
+#define BIO_C_SET_PREFIX			149
+#define BIO_C_GET_PREFIX			150
+#define BIO_C_SET_SUFFIX			151
+#define BIO_C_GET_SUFFIX			152
+
+#define BIO_C_SET_EX_ARG			153
+#define BIO_C_GET_EX_ARG			154
+
+
+#if defined(__cplusplus)
+}  /* extern C */
+#endif
+
+#define BIO_F_BIO_callback_ctrl 100
+#define BIO_F_BIO_ctrl 101
+#define BIO_F_BIO_new 102
+#define BIO_F_BIO_new_file 103
+#define BIO_F_BIO_new_mem_buf 104
+#define BIO_F_BIO_zero_copy_get_read_buf 105
+#define BIO_F_BIO_zero_copy_get_read_buf_done 106
+#define BIO_F_BIO_zero_copy_get_write_buf 107
+#define BIO_F_BIO_zero_copy_get_write_buf_done 108
+#define BIO_F_bio_io 109
+#define BIO_F_bio_make_pair 110
+#define BIO_F_bio_write 111
+#define BIO_F_buffer_ctrl 112
+#define BIO_F_conn_ctrl 113
+#define BIO_F_conn_state 114
+#define BIO_F_file_ctrl 115
+#define BIO_F_file_read 116
+#define BIO_F_mem_write 117
+#define BIO_F_BIO_printf 118
+#define BIO_R_BAD_FOPEN_MODE 100
+#define BIO_R_BROKEN_PIPE 101
+#define BIO_R_CONNECT_ERROR 102
+#define BIO_R_ERROR_SETTING_NBIO 103
+#define BIO_R_INVALID_ARGUMENT 104
+#define BIO_R_IN_USE 105
+#define BIO_R_KEEPALIVE 106
+#define BIO_R_NBIO_CONNECT_ERROR 107
+#define BIO_R_NO_HOSTNAME_SPECIFIED 108
+#define BIO_R_NO_PORT_SPECIFIED 109
+#define BIO_R_NO_SUCH_FILE 110
+#define BIO_R_NULL_PARAMETER 111
+#define BIO_R_SYS_LIB 112
+#define BIO_R_UNABLE_TO_CREATE_SOCKET 113
+#define BIO_R_UNINITIALIZED 114
+#define BIO_R_UNSUPPORTED_METHOD 115
+#define BIO_R_WRITE_TO_READ_ONLY_BIO 116
+
+#endif  /* OPENSSL_HEADER_BIO_H */

phonelibs/boringssl/include/openssl/blowfish.h

@@ -0,0 +1,93 @@
+/* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com)
+ * All rights reserved.
+ *
+ * This package is an SSL implementation written
+ * by Eric Young (eay@cryptsoft.com).
+ * The implementation was written so as to conform with Netscapes SSL.
+ *
+ * This library is free for commercial and non-commercial use as long as
+ * the following conditions are aheared to.  The following conditions
+ * apply to all code found in this distribution, be it the RC4, RSA,
+ * lhash, DES, etc., code; not just the SSL code.  The SSL documentation
+ * included with this distribution is covered by the same copyright terms
+ * except that the holder is Tim Hudson (tjh@cryptsoft.com).
+ *
+ * Copyright remains Eric Young's, and as such any Copyright notices in
+ * the code are not to be removed.
+ * If this package is used in a product, Eric Young should be given attribution
+ * as the author of the parts of the library used.
+ * This can be in the form of a textual message at program startup or
+ * in documentation (online or textual) provided with the package.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. All advertising materials mentioning features or use of this software
+ *    must display the following acknowledgement:
+ *    "This product includes cryptographic software written by
+ *     Eric Young (eay@cryptsoft.com)"
+ *    The word 'cryptographic' can be left out if the rouines from the library
+ *    being used are not cryptographic related :-).
+ * 4. If you include any Windows specific code (or a derivative thereof) from
+ *    the apps directory (application code) you must include an acknowledgement:
+ *    "This product includes software written by Tim Hudson (tjh@cryptsoft.com)"
+ *
+ * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * The licence and distribution terms for any publically available version or
+ * derivative of this code cannot be changed.  i.e. this code cannot simply be
+ * copied and put under another distribution licence
+ * [including the GNU Public Licence.] */
+
+#ifndef OPENSSL_HEADER_BLOWFISH_H
+#define OPENSSL_HEADER_BLOWFISH_H
+
+#include <openssl/base.h>
+
+#ifdef  __cplusplus
+extern "C" {
+#endif
+
+
+#define BF_ENCRYPT 1
+#define BF_DECRYPT 0
+
+#define BF_ROUNDS 16
+#define BF_BLOCK 8
+
+typedef struct bf_key_st {
+  uint32_t P[BF_ROUNDS + 2];
+  uint32_t S[4 * 256];
+} BF_KEY;
+
+OPENSSL_EXPORT void BF_set_key(BF_KEY *key, size_t len, const uint8_t *data);
+OPENSSL_EXPORT void BF_encrypt(uint32_t *data, const BF_KEY *key);
+OPENSSL_EXPORT void BF_decrypt(uint32_t *data, const BF_KEY *key);
+
+OPENSSL_EXPORT void BF_ecb_encrypt(const uint8_t *in, uint8_t *out,
+                                   const BF_KEY *key, int enc);
+OPENSSL_EXPORT void BF_cbc_encrypt(const uint8_t *in, uint8_t *out, long length,
+                                   const BF_KEY *schedule, uint8_t *ivec,
+                                   int enc);
+
+
+#ifdef  __cplusplus
+}
+#endif
+
+#endif  /* OPENSSL_HEADER_BLOWFISH_H */