openpilot v0.5.1 release (#315 )

Merge commit '2cfdc676101c387524246f789c8429647069b827' into release2
Merge pull request #293 from commaai/devel
2026-08-25 02:03:43 +08:00 · 2018-08-27 12:21:14 -07:00 · 2018-07-13 22:37:09 -07:00 · 2018-06-28 11:22:35 -07:00 · 2018-06-19 09:18:12 -07:00 · 2018-05-30 11:19:03 -07:00
1403 changed files with 124380 additions and 194313 deletions
@@ -1,4 +1,3 @@
-venv/
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -21,20 +20,17 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+lane.cpp
+loc*.cpp
 config.json
 clcache

 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
-selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 selfdrive/test/tests/plant/out
-selfdrive/visiond/visiond
 /src/

 one
-openpilot
-xx
-
@@ -1,585 +0,0 @@
-[MASTER]
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@@ -7,17 +7,6 @@ install:
  - docker build -t tmppilot -f Dockerfile.openpilot .

 script:
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools")'
-  - docker run
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools"); exit $(($? & 3))'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
-  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
-  - docker run
+  - docker run --rm
      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
@@ -2,30 +2,17 @@

 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 [Discord](https://discord.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 [slack](https://slack.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)

 ## Getting Started

- * Join our [Discord](https://discord.comma.ai)
+ * Join our slack [slack.comma.ai](https://slack.comma.ai)
 * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
-
-## Testing
-
-### Local Testing
-
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
-
-### Automated Testing
-
-All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
-
-### Code Style and Linting
-
-Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
+ * Fork the repository on GitHub

 ## Car Ports (openpilot)

-We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
+We've released a guide for porting to Toyota cars [here](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6)
+
+If you port openpilot to a substantially new car, you might be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)

-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
@@ -1,57 +1,19 @@
 FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1

-RUN apt-get update && apt-get install -y \
-    autoconf \
-    build-essential \
-    bzip2 \
-    clang \
-    git \
-    libarchive-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavfilter-dev \
-    libavresample-dev \
-    libavutil-dev \
-    libffi-dev \
-    libglib2.0-0 \
-    libssl-dev \
-    libswscale-dev \
-    libtool \
-    libusb-1.0-0 \
-    libzmq5-dev \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    opencl-headers \
-    pkg-config \
-    python-pip \
-    wget
+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 pip install numpy==1.11.2 scipy==0.18.1 matplotlib

-COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
-RUN /tmp/install_capnp.sh
-
-RUN pip install --upgrade pip==18.0
-RUN pip install pipenv==2018.11.26
-
-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-RUN cd /tmp && pipenv install --deploy --system
+COPY requirements_openpilot.txt /tmp/
+RUN pip install -r /tmp/requirements_openpilot.txt

 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH

-RUN git clone --branch v0.6  https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
-RUN pip install -r /tmp/openpilot/tools/requirements.txt
-RUN pip install fastcluster==1.1.20 scipy==0.19.1
-
-COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal
 COPY ./opendbc /tmp/openpilot/opendbc
 COPY ./selfdrive /tmp/openpilot/selfdrive
 COPY ./phonelibs /tmp/openpilot/phonelibs
 COPY ./pyextra /tmp/openpilot/pyextra
-COPY ./panda /tmp/openpilot/panda

 RUN mkdir -p /tmp/openpilot/selfdrive/test/out
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
-RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
@@ -1,140 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-ipython = "<6.0"
-aenum = "*"
-azure-batch = "==4.1.3"
-azure-common = "==1.1.16"
-azure-nspkg = "==3.0.1"
-azure-storage-blob = "==1.3.1"
-azure-storage-common = "==1.3.0"
-azure-storage-nspkg = "==3.0.0"
-bincopy = "*"
-bleach = "==1.5.0"
-boto = "*"
-"boto3" = "*"
-celery = "*"
-control = "*"
-datadog = "*"
-decorator = "*"
-dlib = "*"
-dominate = "*"
-elasticsearch = "*"
-entium = "==0.1.4"
-fasteners = "*"
-future = "*"
-futures = "*"
-gevent = "*"
-pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
-gunicorn = "*"
-"h5py" = "*"
-hexdump = "*"
-"html5lib" = "==0.9999999"
-imageio = "*"
-intervaltree = "*"
-ipykernel = "<5.0"
-joblib = "*"
-json-logging-py = "*"
-jupyter = "*"
-libarchive = "*"
-lru-dict = "*"
-lxml = "*"
-matplotlib = "==2.2.3"
-"mpld3" = "*"
-msgpack-python = "*"
-nbstripout = "*"
-nose-parameterized = "*"
-numpy = "==1.14.5"
-osmium = "==2.15.0"
-pbr = "==5.1.3"
-percache = "*"
-pprofile = "*"
-psutil = "*"
-pycurl = "*"
-git-pylint-commit-hook = "==2.5.1"
-pymongo = "*"
-"pynmea2" = "*"
-pypolyline = "==0.1.17"
-pysendfile = "*"
-python-logstash = "*"
-pyvcd = "*"
-redis = "*"
-redlock = "*"
-"s2sphere" = "*"
-scikit-image = "*"
-"subprocess32" = "*"
-supervisor = "*"
-tenacity = "*"
-tensorflow-gpu = "==1.13.0rc0"
-"transforms3d" = "*"
-utm = "*"
-"v4l2" = "*"
-visdom = "*"
-PyJWT = "==1.4.1"
-PyMySQL = "==0.9.2"
-Theano = "*"
-Werkzeug = "*"
-"backports.lzma" = "*"
-Flask-Cors = "*"
-Flask-SocketIO = "*"
-"GeoAlchemy2" = "*"
-Keras = ">=2.1.6"
-keras-maskrcnn = "*"
-keras-retinanet = "*"
-Pygments = "*"
-PyNaCl = "*"
-"PySDL2" = "*"
-reverse_geocoder = "*"
-Shapely = "*"
-SQLAlchemy = "==1.2.7"
-uWSGI = "*"
-scipy = "*"
-fastcluster = "==1.1.25"
-backports-abc = "*"
-pygame = "*"
-simplejson = "*"
-
-[packages]
-overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
-atomicwrites = "*"
-cffi = "*"
-crcmod = "*"
-hexdump = "*"
-libusb1 = "*"
-numpy = "*"
-psutil = "*"
-pycapnp = "*"
-cryptography = "*"
-pyserial = "*"
-python-dateutil = "*"
-pyzmq = "*"
-raven = "*"
-requests = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "*"
-tqdm = "*"
-Cython = "*"
-PyYAML = "*"
-websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
-urllib3 = "*"
-chardet = "*"
-idna = "*"
-gunicorn = "*"
-utm = "*"
-json-rpc = "*"
-Flask = "*"
-PyJWT = "*"
-"Jinja2" = "*"
-nose = "*"
-pyflakes = "*"
-pylint = "*"
-pycryptodome = "*"
-
-[requires]
-python_version = "2.7"
@@ -1,28 +1,11 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
+[![](https://i.imgur.com/VlKV6V8.png)](#)

 Welcome to openpilot
 ======

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

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

 Community
 ------
@@ -31,11 +14,11 @@ 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 [Discord](https://discord.comma.ai).
+Also, we have a 3500+ person [community on slack](https://slack.comma.ai).

 <table>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=9TDi0BHgXyo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
@@ -51,95 +34,78 @@ Also, we have a several thousand people community on [Discord](https://discord.c
 Hardware
 ------

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

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

 Supported Cars
 ------

-| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| 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               |
-| Chrysler             | Pacifica Hybrid 2019     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | 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 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 2017-19             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V Hybrid 2017-2019    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Odyssey 2018-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
-| Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | 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 2017-19        | 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 2017-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Jeep                 | Grand Cherokee 2019      | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | 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                | ES Hybrid 2019           | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Camry 2018               | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-18             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 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 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius Prime 2017-19      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 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 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
+| Acura         | ILX 2016                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura         | ILX 2017                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura         | RDX 2018                  | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| GM<sup>3</sup>| Volt 2017                 | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
+| GM<sup>3</sup>| Volt 2018                 | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
+| Honda         | Accord 2018               | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda         | Civic 2016                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda         | Civic 2017                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda         | Civic 2017 *(Hatch)*      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | Civic 2018                | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda         | CR-V 2015                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | CR-V 2016                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | CR-V 2017                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | CR-V 2018                 | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda         | Odyssey 2017              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Odyssey 2018              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Pilot 2017                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Pilot 2018                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Ridgeline 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Ridgeline 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Lexus         | RX Hybrid 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus         | RX Hybrid 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Camry 2018<sup>4</sup>    | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
+| Toyota        | C-HR 2018<sup>4</sup>     | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota        | Corolla 2017              | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Corolla 2018              | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Prius 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius 2017                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius 2018                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius Prime 2017          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Prius Prime 2018          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Rav4 2016                 | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Rav4 2017                 | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Rav4 2018                 | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota        | Rav4 Hybrid 2017          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota        | Rav4 Hybrid 2018          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |

-<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).*** <br />
-<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). <br />
-<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
-<sup>4</sup>Subaru Giraffe is DIY. <br />
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<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. <br />
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
+
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
+<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)  
+<sup>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.  

 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 2012-13          | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
+| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
+| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |

-[[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 />
+[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).

-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.
+Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.

 In Progress Cars
 ------
- 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 Hyundai with SmartSense.
- All Kia with SCC and LKAS.
- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
+- 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 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.

 How can I add support for my car?
 ------
@@ -148,9 +114,9 @@ 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 can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
+- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
 - We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
+- The 2016-2017 Honda Accord use a custom signaling protocol for steering that's unlikely to ever be upstreamed.

 Directory structure
 ------
@@ -165,7 +131,6 @@ Directory structure
    ├── pyextra             # Libraries used on EON
    └── selfdrive           # Code needed to drive the car
        ├── assets          # Fonts and images for UI
-        ├── athena          # Allows communication with the app
        ├── boardd          # Daemon to talk to the board
        ├── can             # Helpers for parsing CAN messages
        ├── car             # Car specific code to read states and control actuators
@@ -179,14 +144,14 @@ Directory structure
        ├── sensord         # IMU / GPS interface code
        ├── test            # Car simulator running code through virtual maneuvers
        ├── ui              # The UI
-        └── visiond         # Vision pipeline
+        └── visiond         # Embedded vision pipeline

 To understand how the services interact, see `selfdrive/service_list.yaml`

 User Data / chffr Account / Crash Reporting
 ------

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

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

@@ -199,21 +164,22 @@ By using it, you agree to [our privacy policy](https://community.comma.ai/privac
 Testing on PC
 ------

-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.
+There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different 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 also have a [bounty program](https://comma.ai/bounties.html).
+We welcome both pull requests and issues on
+[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.

 Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)

@@ -227,7 +193,3 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
-
---
-
-<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
@@ -1,142 +1,3 @@
-Version 0.6 (2019-07-01)
-========================
- * New model, with double the pixels and ten times the temporal context!
- * Car should not take exits when in the right lane
- * openpilot uses only ~65% of the CPU (down from 75%)
- * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
- * loggerd and sensord are open source, every line of openpilot is now open
- * Panda safety code is MISRA compliant and ships with a signed version on release2
- * New NEOS is 500MB smaller and has a reproducible usr/pipenv
- * Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS2
- * Various other stability improvements
-
-Version 0.5.13 (2019-05-31)
-==========================
- * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
- * Reduce EON power consumption by 40%, down to 1100mW, when car is off
- * Reduce CPU utilization by 20% and improve stability
- * Temporarily remove mapd functionalities to improve stability
- * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to boardd to reduce latency
- * Remove panda support for Subaru giraffe
-
-Version 0.5.12 (2019-05-16)
-==========================
- * Improve lateral control for the Prius and Prius Prime
- * Compress logs before writing to disk
- * Remove old driving data when storage reaches 90% full
- * Fix small offset in following distance
- * Various small CPU optimizations
- * Improve offroad power consumption: require NEOS Update
- * Add default speed limits for Estonia thanks to martinl!
- * Subaru Crosstrek support thanks to martinl!
- * Toyota Avalon support thanks to njbrown09!
- * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
- * Toyota Corolla with TSS 2.0 support thanks to wocsor!
-
-Version 0.5.11 (2019-04-17)
-========================
- * Add support for Subaru
- * Reduce panda power consumption by 60% when car is off
- * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
- * Fix bug in controls with new angle-offset learner in MPC
- * Reduce cpu consumption of ubloxd by rewriting it in C++
- * Improve driver monitoring model and face detection
- * Improve performance of visiond and ui
- * Honda Passport 2019 support
- * Lexus RX Hybrid 2019 support thanks to schomems!
- * Improve road selection heuristic in mapd
- * Add Lane Departure Warning to dashboard for Toyota thanks to arne182
-
-Version 0.5.10 (2019-03-19)
-========================
- * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
- * Improve longitudinal control at low speed when lead vehicle harshly decelerates
- * Fix panda bug going unexpectedly in DCP mode when EON is connected
- * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
- * New Driver Monitoring Model
- * Support QR codes for login using comma connect
- * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
-   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
- * Additional speed limit rules for Germany thanks to arne182
- * Allow negative speed limit offsets
-
-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 support 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
- * Highlight speed limit when speed exceeds road speed limit plus a delta
- * Option to limit openpilot max speed to road speed limit plus a delta
- * Cadillac ATS support thanks to vntarasov!
- * GMC Acadia support thanks to CryptoKylan!
- * Decrease GPU power consumption
- * NEOSv8 autoupdate
-
-Version 0.5.6 (2018-11-16)
-========================
- * Refresh settings layout and add feature descriptions
- * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
- * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
- * Improve camera calibration stability
- * More tuning to Honda positive accelerations
- * Reduce brake pump use on Hondas
- * Chevrolet Malibu support thanks to tylergets!
- * Holden Astra support thanks to AlexHill!
-
-Version 0.5.5 (2018-10-20)
-========================
- * Increase allowed Honda positive accelerations
- * Fix sporadic unexpected braking when passing semi-trucks in Toyota
- * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
-
-Version 0.5.4 (2018-09-25)
-========================
- * New Driving Model
- * New Driver Monitoring Model
- * Improve longitudinal mpc in mid-low speed braking
- * Honda Accord hybrid support thanks to energee!
- * Ship mpc binaries and sensibly reduce build time
- * Calibration more stable
- * More Hyundai and Kia cars supported thanks to emmertex!
- * Various GM Volt improvements thanks to vntarasov!
-
-Version 0.5.3 (2018-09-03)
-========================
- * Hyundai Santa Fe support!
- * Honda Pilot 2019 support thanks to energee!
- * Toyota Highlander support thanks to daehahn!
- * Improve steering tuning for Honda Odyssey
-
-Version 0.5.2 (2018-08-16)
-========================
- * New calibration: more accurate, a lot faster, open source!
- * Enable orbd
- * Add little endian support to CAN packer
- * Fix fingerprint for Honda Accord 1.5T
- * Improve driver monitoring model
-
 Version 0.5.1 (2018-08-01)
 ========================
 * Fix radar error on Civic sedan 2018
@@ -89,7 +89,7 @@ GM/Chevrolet
    and openpilot to 350. This is approximately 0.3g of braking.

  - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
@@ -105,47 +105,5 @@ GM/Chevrolet
  - GM CAN uses both a counter and a checksum to ensure integrity and prevent
    replay of the same message.

-Hyundai/Kia (Lateral only)
------
-
-  - While the system is engaged, steer commands are subject to the same limits used by
-    the stock system.
-
-  - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
-    commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
-    driver's will.
-
-Chrysler/Jeep/Fiat (Lateral only)
------
-
-  - While the system is engaged, steer commands are subject to the same limits used by
-    the stock system.
-
-  - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
-    commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
-    units above the actual EPS generated motor torque to ensure limited differences between
-    commanded and actual torques.
-
-Subaru (Lateral only)
------
-
-  - While the system is engaged, steer commands are subject to the same limits used by
-    the stock system.
-
-  - Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
-    commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
-    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
-    0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
-    driver's will.
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
  not fully meeting the above requirements.
@@ -1,6 +1,3 @@
 gen
 node_modules
 package-lock.json
-*.pyc
-__pycache__
-
@@ -7,23 +7,20 @@ JS := gen/js/car.capnp.js gen/js/log.capnp.js

 UNAME_M ?= $(shell uname -m)

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

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

 endif

-
 ifeq ($(UNAME_M),aarch64)
-CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
+	CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
 else
-CAPNPC=capnpc
+	CAPNPC=capnpc
 endif

 .PHONY: all
@@ -22,7 +22,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {

  enum EventName @0xbaa8c5d505f727de {
    # TODO: copy from error list
-    canError @0;
+    commIssue @0;
    steerUnavailable @1;
    brakeUnavailable @2;
    gasUnavailable @3;
@@ -37,19 +37,19 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    buttonEnable @12;
    pedalPressed @13;
    cruiseDisabled @14;
-    radarCanError @15;
+    radarCommIssue @15;
    dataNeeded @16;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
-    calibrationIncomplete @20;
+    calibrationInProgress @20;
    calibrationInvalid @21;
    controlsMismatch @22;
    pcmEnable @23;
    pcmDisable @24;
    noTarget @25;
    radarFault @26;
-    modelCommIssueDEPRECATED @27;
+    modelCommIssue @27;
    brakeHold @28;
    parkBrake @29;
    manualRestart @30;
@@ -68,14 +68,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preDriverUnresponsive @43;
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
-    belowSteerSpeed @46;
-    calibrationProgress @47;
-    lowBattery @48;
-    invalidGiraffeHonda @49;
-    vehicleModelInvalid @50;
-    controlsFailed @51;
-    sensorDataInvalid @52;
-    commIssue @53;
  }
 }

@@ -124,7 +116,6 @@ struct CarState {
  # lock info
  doorOpen @24 :Bool;
  seatbeltUnlatched @25 :Bool;
-  canValid @26 :Bool;

  # which packets this state came from
  canMonoTimes @12: List(UInt64);
@@ -178,7 +169,7 @@ struct CarState {

 # ******* radar state @ 20hz *******

-struct RadarData @0x888ad6581cf0aacb {
+struct RadarState {
  errors @0 :List(Error);
  points @1 :List(RadarPoint);

@@ -186,7 +177,7 @@ struct RadarData @0x888ad6581cf0aacb {
  canMonoTimes @2 :List(UInt64);

  enum Error {
-    canError @0;
+    commIssue @0;
    fault @1;
    wrongConfig @2;
  }
@@ -249,10 +240,6 @@ struct CarControl {
    leadVisible @3: Bool;
    visualAlert @4: VisualAlert;
    audibleAlert @5: AudibleAlert;
-    rightLaneVisible @6: Bool;
-    leftLaneVisible @7: Bool;
-    rightLaneDepart @8: Bool;
-    leftLaneDepart @9: Bool;

    enum VisualAlert {
      # these are the choices from the Honda
@@ -270,13 +257,13 @@ struct CarControl {
      # these are the choices from the Honda
      # map as good as you can for your car
      none @0;
-      chimeEngage @1;
-      chimeDisengage @2;
-      chimeError @3;
-      chimeWarning1 @4;
-      chimeWarning2 @5;
-      chimeWarningRepeat @6;
-      chimePrompt @7;
+      beepSingle @1;
+      beepTriple @2;
+      beepRepeated @3;
+      chimeSingle @4;
+      chimeDouble @5;
+      chimeRepeated @6;
+      chimeContinuous @7;
    }
  }
 }
@@ -285,86 +272,32 @@ struct CarControl {

 struct CarParams {
  carName @0 :Text;
-  carFingerprint @1 :Text;
+  radarNameDEPRECATED @1 :Text;
+  carFingerprint @2 :Text;

-  enableGasInterceptor @2 :Bool;
-  enableCruise @3 :Bool;
-  enableCamera @4 :Bool;
-  enableDsu @5 :Bool; # driving support unit
-  enableApgs @6 :Bool; # advanced parking guidance system
+  enableSteerDEPRECATED @3 :Bool;
+  enableGasInterceptor @4 :Bool;
+  enableBrakeDEPRECATED @5 :Bool;
+  enableCruise @6 :Bool;
+  enableCamera @26 :Bool;
+  enableDsu @27 :Bool; # driving support unit
+  enableApgs @28 :Bool; # advanced parking guidance system

-  minEnableSpeed @7 :Float32;
-  minSteerSpeed @8 :Float32;
-  safetyModel @9 :SafetyModel;
-  safetyParam @10 :Int16;
+  minEnableSpeed @17 :Float32;
+  safetyModel @18 :Int16;
+  safetyParam @41 :Int16;

-  steerMaxBP @11 :List(Float32);
-  steerMaxV @12 :List(Float32);
-  gasMaxBP @13 :List(Float32);
-  gasMaxV @14 :List(Float32);
-  brakeMaxBP @15 :List(Float32);
-  brakeMaxV @16 :List(Float32);
+  steerMaxBP @19 :List(Float32);
+  steerMaxV @20 :List(Float32);
+  gasMaxBP @21 :List(Float32);
+  gasMaxV @22 :List(Float32);
+  brakeMaxBP @23 :List(Float32);
+  brakeMaxV @24 :List(Float32);

+  longPidDeadzoneBP @32 :List(Float32);
+  longPidDeadzoneV @33 :List(Float32);

-  # things about the car in the manual
-  mass @17 :Float32;             # [kg] running weight
-  wheelbase @18 :Float32;        # [m] distance from rear to front axle
-  centerToFront @19 :Float32;   # [m] GC distance to front axle
-  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
-
-  # things we can derive
-  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
-  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
-
-  longitudinalTuning @25 :LongitudinalPIDTuning;
-  lateralTuning :union {
-    pid @26 :LateralPIDTuning;
-    indi @27 :LateralINDITuning;
-  }
-
-  steerLimitAlert @28 :Bool;
-
-  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
-  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
-  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
-  steerControlType @34 :SteerControlType;
-  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
-
-  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
-  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
-  carVin @38 :Text; # VIN number queried during fingerprinting
-
-  struct LateralPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    kf @4 :Float32;
-  }
-
-  struct LongitudinalPIDTuning {
-    kpBP @0 :List(Float32);
-    kpV @1 :List(Float32);
-    kiBP @2 :List(Float32);
-    kiV @3 :List(Float32);
-    deadzoneBP @4 :List(Float32);
-    deadzoneV @5 :List(Float32);
-  }
-
-
-  struct LateralINDITuning {
-    outerLoopGain @0 :Float32;
-    innerLoopGain @1 :Float32;
-    timeConstant @2 :Float32;
-    actuatorEffectiveness @3 :Float32;
-  }
-
-
-  enum SafetyModel {
+  enum SafetyModels {
    # does NOT match board setting
    noOutput @0;
    honda @1;
@@ -376,10 +309,47 @@ struct CarParams {
    cadillac @7;
    hyundai @8;
    chrysler @9;
-    tesla @10;
-    subaru @11;
  }

+  # things about the car in the manual
+  mass @7 :Float32;             # [kg] running weight
+  wheelbase @8 :Float32;        # [m] distance from rear to front axle
+  centerToFront @9 :Float32;   # [m] GC distance to front axle
+  steerRatio @10 :Float32;       # [] ratio between front wheels and steering wheel angles
+  steerRatioRear @11 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+
+  # things we can derive
+  rotationalInertia @12 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFront @13 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  # Kp and Ki for the lateral control
+  steerKpBP @42 :List(Float32);
+  steerKpV @43 :List(Float32);
+  steerKiBP @44 :List(Float32);
+  steerKiV @45 :List(Float32);
+  steerKpDEPRECATED @15 :Float32;
+  steerKiDEPRECATED @16 :Float32;
+  steerKf @25 :Float32;
+
+  # Kp and Ki for the longitudinal control
+  longitudinalKpBP @36 :List(Float32);
+  longitudinalKpV @37 :List(Float32);
+  longitudinalKiBP @38 :List(Float32);
+  longitudinalKiV @39 :List(Float32);
+
+  steerLimitAlert @29 :Bool;
+
+  vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state
+  directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
+  stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
+  startAccel @35 :Float32; # Required acceleraton to overcome creep braking
+  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
+  steerControlType @46 :SteerControlType;
+  radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
+
+  steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
+
  enum SteerControlType {
    torque @0;
    angle @1;
@@ -1,26 +0,0 @@
-#!/bin/bash
-
-rm -r gen/ts
-rm -r gen/js
-
-mkdir gen/ts
-mkdir gen/js
-
-echo "Installing needed npm modules"
-npm i capnpc-ts capnp-ts
-
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
-capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
-
-cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
-do
-  TOKEN=`echo $line | sed 's/\./_/g'`
-  ROOT=`echo $line | sed 's/\..*$//g'`
-  cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
-  if [[ "$?" == "1" ]]
-  then
-    sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
-  fi
-done
-
-tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
@@ -1,39 +0,0 @@
-set -e
-echo "Installing capnp"
-
-cd /tmp
-VERSION=0.6.1
-wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
-tar xvf capnproto-c++-${VERSION}.tar.gz
-cd capnproto-c++-${VERSION}
-CXXFLAGS="-fPIC" ./configure
-
-make -j4
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-ln -s /usr/local/bin/capnp /usr/local/bin/capnpc
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j4
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib
@@ -42,7 +42,6 @@ struct InitData {

  dirty @9 :Bool;
  passive @12 :Bool;
-  params @17 :Map(Text, Text);

  enum DeviceType {
    unknown @0;
@@ -150,12 +149,6 @@ struct FrameData {
  }
 }

-struct Thumbnail {
-  frameId @0 :UInt32;
-  timestampEof @1 :UInt64;
-  thumbnail @2 :Data;
-}
-
 struct GPSNMEAData {
  timestamp @0 :Int64;
  localWallTime @1 :UInt64;
@@ -193,10 +186,6 @@ struct SensorEventData {
    iOS @1;
    fiber @2;
    velodyne @3;  # Velodyne IMU
-    bno055 @4;    # Bosch accelerometer
-    lsm6ds3 @5;   # accelerometer (c2)
-    bmp280 @6;    # barometer (c2)
-    mmc3416x @7;  # magnetometer (c2)
  }
 }

@@ -273,8 +262,6 @@ struct ThermalData {
  freeSpace @7 :Float32;
  batteryPercent @8 :Int16;
  batteryStatus @9 :Text;
-  batteryCurrent @15 :Int32;
-  batteryVoltage @16 :Int32;
  usbOnline @12 :Bool;

  fanSpeed @10 :UInt16;
@@ -282,8 +269,6 @@ struct ThermalData {
  startedTs @13 :UInt64;

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

  enum ThermalStatus {
    green @0;   # all processes run
@@ -311,12 +296,12 @@ struct LiveUI {
  awarenessStatus @3 :Float32;
 }

-struct RadarState @0x9a185389d6fdd05f {
+struct Live20Data {
  canMonoTimes @10 :List(UInt64);
  mdMonoTime @6 :UInt64;
  ftMonoTimeDEPRECATED @7 :UInt64;
-  controlsStateMonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarData.Error);
+  l100MonoTime @11 :UInt64;
+  radarErrors @12 :List(Car.RadarState.Error);

  # all deprecated
  warpMatrixDEPRECATED @0 :List(Float32);
@@ -342,22 +327,17 @@ struct RadarState @0x9a185389d6fdd05f {
    aLeadK @9 :Float32;
    fcw @10 :Bool;
    status @11 :Bool;
-    aLeadTau @12 :Float32;
  }
 }

 struct LiveCalibrationData {
-  # deprecated
  warpMatrix @0 :List(Float32);
-  # camera_frame_from_model_frame
  warpMatrix2 @5 :List(Float32);
-  warpMatrixBig @6 :List(Float32);
  calStatus @1 :Int8;
  calCycle @2 :Int32;
  calPerc @3 :Int8;

-  # view_frame_from_road_frame
-  # ui's is inversed needs new
+  # Maps car space to normalized image space.
  extrinsicMatrix @4 :List(Float32);
 }

@@ -374,15 +354,14 @@ struct LiveTracks {
  oncoming @9 :Bool;
 }

-struct ControlsState @0x97ff69c53601abf1 {
+struct Live100Data {
  canMonoTimeDEPRECATED @16 :UInt64;
  canMonoTimes @21 :List(UInt64);
-  radarStateMonoTimeDEPRECATED @17 :UInt64;
+  l20MonoTimeDEPRECATED @17 :UInt64;
  mdMonoTimeDEPRECATED @18 :UInt64;
  planMonoTime @28 :UInt64;
-  pathPlanMonoTime @50 :UInt64;

-  state @31 :OpenpilotState;
+  state @31 :ControlState;
  vEgo @0 :Float32;
  vEgoRaw @32 :Float32;
  aEgoDEPRECATED @1 :Float32;
@@ -394,9 +373,9 @@ struct ControlsState @0x97ff69c53601abf1 {
  ufAccelCmd @33 :Float32;
  yActualDEPRECATED @6 :Float32;
  yDesDEPRECATED @7 :Float32;
-  upSteerDEPRECATED @8 :Float32;
-  uiSteerDEPRECATED @9 :Float32;
-  ufSteerDEPRECATED @34 :Float32;
+  upSteer @8 :Float32;
+  uiSteer @9 :Float32;
+  ufSteer @34 :Float32;
  aTargetMinDEPRECATED @10 :Float32;
  aTargetMaxDEPRECATED @11 :Float32;
  aTarget @35 :Float32;
@@ -406,9 +385,6 @@ struct ControlsState @0x97ff69c53601abf1 {
  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;
@@ -422,24 +398,13 @@ struct ControlsState @0x97ff69c53601abf1 {
  alertStatus @38 :AlertStatus;
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
-  alertType @44 :Text;
-  alertSound @45 :Text;
  awarenessStatus @26 :Float32;
-  angleModelBias @27 :Float32;
+  angleOffset @27 :Float32;
  gpsPlannerActive @40 :Bool;
  engageable @41 :Bool;  # can OP be engaged?
  driverMonitoringOn @43 :Bool;

-  # maps
-  vCurvature @46 :Float32;
-  decelForTurn @47 :Bool;
-
-  lateralControlState :union {
-    indiState @52 :LateralINDIState;
-    pidState @53 :LateralPIDState;
-  }
-
-  enum OpenpilotState @0xdbe58b96d2d1ac61 {
+  enum ControlState {
    disabled @0;
    preEnabled @1;
    enabled @2;
@@ -466,31 +431,6 @@ struct ControlsState @0x97ff69c53601abf1 {
    full @3;    # full screen
  }

-  struct LateralINDIState {
-    active @0 :Bool;
-    steerAngle @1 :Float32;
-    steerRate @2 :Float32;
-    steerAccel @3 :Float32;
-    rateSetPoint @4 :Float32;
-    accelSetPoint @5 :Float32;
-    accelError @6 :Float32;
-    delayedOutput @7 :Float32;
-    delta @8 :Float32;
-    output @9 :Float32;
-  }
-
-  struct LateralPIDState {
-    active @0 :Bool;
-    steerAngle @1 :Float32;
-    steerRate @2 :Float32;
-    angleError @3 :Float32;
-    p @4 :Float32;
-    i @5 :Float32;
-    f @6 :Float32;
-    output @7 :Float32;
-    saturated @8 :Bool;
-   }
-
 }

 struct LiveEventData {
@@ -513,16 +453,12 @@ struct ModelData {
    points @0 :List(Float32);
    prob @1 :Float32;
    std @2 :Float32;
-    stds @3 :List(Float32);
-    poly @4 :List(Float32);
  }

  struct LeadData {
    dist @0 :Float32;
    prob @1 :Float32;
    std @2 :Float32;
-    relVel @3 :Float32;
-    relVelStd @4 :Float32;
  }

  struct ModelSettings {
@@ -584,18 +520,16 @@ struct LogRotate {

 struct Plan {
  mdMonoTime @9 :UInt64;
-  radarStateMonoTime @10 :UInt64;
-  commIssue @31 :Bool;
-
-  eventsDEPRECATED @13 :List(Car.CarEvent);
+  l20MonoTime @10 :UInt64;
+  events @13 :List(Car.CarEvent);

  # lateral, 3rd order polynomial
-  lateralValidDEPRECATED @0 :Bool;
-  dPolyDEPRECATED @1 :List(Float32);
-  laneWidthDEPRECATED @11 :Float32;
+  lateralValid @0 :Bool;
+  dPoly @1 :List(Float32);
+  laneWidth @11 :Float32;

  # longitudinal
-  longitudinalValidDEPRECATED @2 :Bool;
+  longitudinalValid @2 :Bool;
  vCruise @16 :Float32;
  aCruise @17 :Float32;
  vTarget @3 :Float32;
@@ -604,14 +538,8 @@ 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;

@@ -620,16 +548,6 @@ struct Plan {

  gpsPlannerActive @19 :Bool;

-  # maps
-  vCurvature @21 :Float32;
-  decelForTurn @22 :Bool;
-  mapValid @25 :Bool;
-  radarValid @28 :Bool;
-  radarCanError @30 :Bool;
-
-  processingDelay @29 :Float32;
-
-
  struct GpsTrajectory {
    x @0 :List(Float32);
    y @1 :List(Float32);
@@ -643,27 +561,6 @@ 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; # deg
-  rateSteers @13 :Float32; # deg/s
-  mpcSolutionValid @9 :Bool;
-  paramsValid @10 :Bool;
-  modelValidDEPRECATED @12 :Bool;
-  angleOffset @11 :Float32;
-  sensorValid @14 :Bool;
-  commIssue @15 :Bool;
-}
-
 struct LiveLocationData {
  status @0 :UInt8;

@@ -1350,7 +1247,6 @@ struct UbloxGnss {
      carrierPhaseStdev @10 :Float32;
      # doppler standard deviation in Hz
      dopplerStdev @11 :Float32;
-      sigId @12 :UInt8;

      struct TrackingStatus {
        # pseudorange valid
@@ -1650,55 +1546,9 @@ struct Boot {
  lastPmsg @2 :Data;
 }

-struct LiveParametersData {
-  valid @0 :Bool;
-  gyroBias @1 :Float32;
-  angleOffset @2 :Float32;
-  angleOffsetAverage @3 :Float32;
-  stiffnessFactor @4 :Float32;
-  steerRatio @5 :Float32;
-  sensorValid @6 :Bool;
-  yawRate @7 :Float32;
-}
-
-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;
-  roadX @5 :List(Float32);
-  roadY @6 :List(Float32);
-  lastGps @7: GpsLocationData;
-  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?
  logMonoTime @0 :UInt64;
-  valid @67 :Bool = true;

  union {
    initData @1 :InitData;
@@ -1707,13 +1557,13 @@ struct Event {
    sensorEventDEPRECATED @4 :SensorEventData;
    can @5 :List(CanData);
    thermal @6 :ThermalData;
-    controlsState @7 :ControlsState;
+    live100 @7 :Live100Data;
    liveEventDEPRECATED @8 :List(LiveEventData);
    model @9 :ModelData;
    features @10 :CalibrationFeatures;
    sensorEvents @11 :List(SensorEventData);
    health @12 :HealthData;
-    radarState @13 :RadarState;
+    live20 @13 :Live20Data;
    liveUIDEPRECATED @14 :LiveUI;
    encodeIdx @15 :EncodeIndex;
    liveTracks @16 :List(LiveTracks);
@@ -1761,13 +1611,5 @@ struct Event {
    orbFeaturesSummary @58 :OrbFeaturesSummary;
    driverMonitoring @59 :DriverMonitoring;
    boot @60 :Boot;
-    liveParameters @61 :LiveParametersData;
-    liveMapData @62 :LiveMapData;
-    cameraOdometry @63 :CameraOdometry;
-    pathPlan @64 :PathPlan;
-    kalmanOdometry @65 :KalmanOdometry;
-    thumbnail @66: Thumbnail;
-    carEvents @68: List(Car.CarEvent);
-    carParams @69: Car.CarParams;
  }
 }
@@ -1,53 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-using Java = import "./include/java.capnp";
-$Java.package("ai.comma.openpilot.cereal");
-$Java.outerClassname("Map");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}
@@ -1,11 +0,0 @@
-#!/bin/bash
-
-pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
-RESULT=$?
-if [ $RESULT -eq 0 ]; then
-    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
-    RESULT=$? & 3
-fi
-
-[ $RESULT -ne 0 ] && exit 1
-exit 0
@@ -1,16 +0,0 @@
-from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
-
-cdef double readclock(int clock_id):
-    cdef timespec ts
-    cdef double current
-
-    clock_gettime(clock_id, &ts)
-    current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
-    return current
-
-
-def monotonic_time():
-    return readclock(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-    return readclock(CLOCK_BOOTTIME)
@@ -1,34 +1,33 @@
 import re
 import os
 import struct
+import bitstring
 import sys
 import numbers
-from collections import namedtuple, defaultdict
+from collections import namedtuple

 def int_or_float(s):
  # return number, trying to maintain int format
-  if s.isdigit():
-    return int(s, 10)
-  else:
+  try:
+    return int(s)
+  except ValueError:
    return float(s)

 DBCSignal = namedtuple(
  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
                "factor", "offset", "tmin", "tmax", "units"])

-
 class dbc(object):
  def __init__(self, fn):
    self.name, _ = os.path.splitext(os.path.basename(fn))
    with open(fn) as f:
-      self.txt = f.readlines()
+      self.txt = f.read().split("\n")
    self._warned_addresses = set()

    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
    bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
    sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
    sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-    val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")

    # A dictionary which maps message ids to tuples ((name, size), signals).
    #   name is the ASCII name of the message.
@@ -37,9 +36,6 @@ class dbc(object):
    # signals is a list of DBCSignal in order of increasing start_bit.
    self.msgs = {}

-    # A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
-    self.def_vals = defaultdict(list)
-
    # lookup to bit reverse each byte
    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]

@@ -51,8 +47,7 @@ class dbc(object):
        dat = bo_regexp.match(l)

        if dat is None:
-          print("bad BO {0}".format(l))
-
+          print "bad BO", l
        name = dat.group(2)
        size = int(dat.group(3))
        ids = int(dat.group(1), 0) # could be hex
@@ -68,9 +63,8 @@ class dbc(object):
        if dat is None:
          dat = sgm_regexp.match(l)
          go = 1
-
        if dat is None:
-          print("bad SG {0}".format(l))
+          print "bad SG", l

        sgname = dat.group(1)
        start_bit = int(dat.group(go+2))
@@ -87,32 +81,7 @@ class dbc(object):
          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
                    is_signed, factor, offset, tmin, tmax, units))

-      if l.startswith("VAL_ "):
-        # new signal value/definition
-        dat = val_regexp.match(l)
-
-        if dat is None:
-          print("bad VAL {0}".format(l))
-
-        ids = int(dat.group(1), 0) # could be hex
-        sgname = dat.group(2)
-        defvals = dat.group(3)
-
-        defvals = defvals.replace("?",r"\?") #escape sequence in C++
-        defvals = defvals.split('"')[:-1]
-
-        defs = defvals[1::2]
-        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
-        for i,d in enumerate(defs):
-          d = defs[i].strip().upper()
-          defs[i] = d.replace(" ","_")
-
-        defvals[1::2] = defs
-        defvals = '"'+"".join(str(i) for i in defvals)+'"'
-
-        self.def_vals[ids].append((sgname, defvals))
-
-    for msg in self.msgs.values():
+    for msg in self.msgs.viewvalues():
      msg[1].sort(key=lambda x: x.start_bit)

    self.msg_name_to_address = {}
@@ -125,16 +94,6 @@ class dbc(object):
      msg_id = self.msg_name_to_address[msg_id]
    return msg_id

-  def reverse_bytes(self, x):
-    return ((x & 0xff00000000000000) >> 56) | \
-           ((x & 0x00ff000000000000) >> 40) | \
-           ((x & 0x0000ff0000000000) >> 24) | \
-           ((x & 0x000000ff00000000) >> 8) | \
-           ((x & 0x00000000ff000000) << 8) | \
-           ((x & 0x0000000000ff0000) << 24) | \
-           ((x & 0x000000000000ff00) << 40) | \
-           ((x & 0x00000000000000ff) << 56)
-
  def encode(self, msg_id, dd):
    """Encode a CAN message using the dbc.

@@ -144,40 +103,35 @@ class dbc(object):
    """
    msg_id = self.lookup_msg_id(msg_id)

+    # TODO: Stop using bitstring, which is super slow.
    msg_def = self.msgs[msg_id]
    size = msg_def[0][1]

-    result = 0
+    bsf = bitstring.Bits(hex="00"*size)
    for s in msg_def[1]:
      ival = dd.get(s.name)
      if ival is not None:
-
-        b2 = s.size
-        if s.is_little_endian:
-          b1 = s.start_bit
-        else:
-          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
-        bo = 64 - (b1 + s.size)
-
        ival = (ival / s.factor) - s.offset
        ival = int(round(ival))

-        if s.is_signed and ival < 0:
-          ival = (1 << b2) + ival
-
-        shift = b1 if s.is_little_endian else bo
-        mask = ((1 << b2) - 1) << shift
-        dat = (ival & ((1 << b2) - 1)) << shift
-
+        # should pack this
        if s.is_little_endian:
-          mask = self.reverse_bytes(mask)
-          dat = self.reverse_bytes(dat)
+          ss = s.start_bit
+        else:
+          ss = self.bits_index[s.start_bit]

-        result &= ~mask
-        result |= dat

-    result = struct.pack('>Q', result)
-    return result[:size]
+        if s.is_signed:
+          tbs = bitstring.Bits(int=ival, length=s.size)
+        else:
+          tbs = bitstring.Bits(uint=ival, length=s.size)
+
+        lpad = bitstring.Bits(bin="0b"+"0"*ss)
+        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
+        tbs = lpad+tbs+rpad
+
+        bsf |= tbs
+    return bsf.tobytes()

  def decode(self, x, arr=None, debug=False):
    """Decode a CAN message using the dbc.
@@ -211,79 +165,56 @@ class dbc(object):

    name = msg[0][0]
    if debug:
-      print(name)
+      print name

-    st = x[2].ljust(8, '\x00')
+    blen = 8*len(x[2])
+
+    st = x[2].rjust(8, '\x00')
    le, be = None, None

    for s in msg[1]:
      if arr is not None and s[0] not in arr:
        continue

-      start_bit = s[1]
-      signal_size = s[2]
-      little_endian = s[3]
-      signed = s[4]
-      factor = s[5]
-      offset = s[6]
-
-      b2 = signal_size
-      if little_endian:
-        b1 = start_bit
-      else:
-        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
-      bo = 64 - (b1 + signal_size)
-
-      if little_endian:
-        if le is None:
-          le = struct.unpack("<Q", st)[0]
-        shift_amount = b1
-        tmp = le
-      else:
+      # big or little endian?
+      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
+      if s[3] is False:
+        ss = self.bits_index[s[1]]
        if be is None:
          be = struct.unpack(">Q", st)[0]
-        shift_amount = bo
-        tmp = be
+        x2_int = be
+        data_bit_pos = (blen - (ss + s[2]))
+      else:
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        x2_int = le
+        ss = s[1]
+        data_bit_pos = ss

-      if shift_amount < 0:
+      if data_bit_pos < 0:
        continue
+      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)

-      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
-      if signed and (tmp >> (b2 - 1)):
-        tmp -= (1 << b2)
+      if s[4] and (ival & (1<<(s[2]-1))): # signed
+        ival -= (1<<s[2])

-      tmp = tmp * factor + offset
-
-      # if debug:
-      #   print("%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1]))
+      # control the offset
+      ival = (ival * s[5]) + s[6]
+      #if debug:
+      #  print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])

      if arr is None:
-        out[s[0]] = tmp
+        out[s[0]] = ival
      else:
-        out[arr.index(s[0])] = tmp
+        out[arr.index(s[0])] = ival
    return name, out

  def get_signals(self, msg):
    msg = self.lookup_msg_id(msg)
    return [sgs.name for sgs in self.msgs[msg][1]]

-
 if __name__ == "__main__":
   from opendbc import DBC_PATH
-   import numpy as np

-   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
-   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x25, 0, encoded))
-   assert decoded == msg
-
-   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
-   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
-   assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
-
-   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
-   encoded = dbc_test.encode(*msg)
-   decoded = dbc_test.decode((0x2b0, 0, encoded))
-
-   assert decoded == msg
+   dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
+   print dbc_test.get_signals(0xe4)
@@ -1,49 +0,0 @@
-import os
-import sys
-import fcntl
-import hashlib
-from cffi import FFI
-
-
-def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
-  if libraries is None:
-    libraries = []
-
-  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
-  try:
-    os.mkdir(tmpdir)
-  except OSError:
-    pass
-
-  fd = os.open(tmpdir, 0)
-  fcntl.flock(fd, fcntl.LOCK_EX)
-  try:
-    sys.path.append(tmpdir)
-    try:
-      mod = __import__(cache)
-    except Exception:
-      print("cache miss {0}".format(cache))
-      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
-      mod = __import__(cache)
-  finally:
-    os.close(fd)
-
-  return mod.ffi, mod.lib
-
-
-def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
-  if libraries is None:
-    libraries = []
-
-  ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
-  ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
-  os.environ['CFLAGS'] = cflags
-  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
-
-
-def wrap_compiled(name, directory):
-  sys.path.append(directory)
-  mod = __import__(name)
-  return mod.ffi, mod.lib
@@ -1,103 +0,0 @@
-import os
-import shutil
-import tempfile
-from atomicwrites import AtomicWriter
-
-def mkdirs_exists_ok(path):
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-def rm_not_exists_ok(path):
-  try:
-    os.remove(path)
-  except OSError:
-    if os.path.exists(path):
-      raise
-
-def rm_tree_or_link(path):
-  if os.path.islink(path):
-    os.unlink(path)
-  elif os.path.isdir(path):
-    shutil.rmtree(path)
-
-def get_tmpdir_on_same_filesystem(path):
-  # TODO(mgraczyk): HACK, we should actually check for which filesystem.
-  normpath = os.path.normpath(path)
-  parts = normpath.split("/")
-  if len(parts) > 1:
-    if parts[1].startswith("raid"):
-      if len(parts) > 2 and parts[2] == "runner":
-        return "/{}/runner/tmp".format(parts[1])
-      elif len(parts) > 2 and parts[2] == "aws":
-        return "/{}/aws/tmp".format(parts[1])
-      else:
-        return "/{}/tmp".format(parts[1])
-    elif parts[1] == "aws":
-      return "/aws/tmp"
-    elif parts[1] == "scratch":
-      return "/scratch/tmp"
-  return "/tmp"
-
-class AutoMoveTempdir(object):
-  def __init__(self, target_path, temp_dir=None):
-    self._target_path = target_path
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    os.rename(self._path, self._target_path)
-
-  def __enter__(self): return self
-
-  def __exit__(self, type, value, traceback):
-    if type is None:
-      self.close()
-    else:
-      shutil.rmtree(self._path)
-
-class NamedTemporaryDir(object):
-  def __init__(self, temp_dir=None):
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    shutil.rmtree(self._path)
-
-  def __enter__(self): return self
-
-  def __exit__(self, type, value, traceback):
-    self.close()
-
-def _get_fileobject_func(writer, temp_dir):
-  def _get_fileobject():
-    file_obj = writer.get_fileobject(dir=temp_dir)
-    os.chmod(file_obj.name, 0o644)
-    return file_obj
-  return _get_fileobject
-
-def atomic_write_on_fs_tmp(path, **kwargs):
-  """Creates an atomic writer using a temporary file in a temporary directory
-     on the same filesystem as path.
-  """
-  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
-  #                 directory.
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
-
-
-def atomic_write_in_dir(path, **kwargs):
-  """Creates an atomic writer using a temporary file in the same directory
-     as the destination file.
-  """
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
-
@@ -1,10 +0,0 @@
-class FirstOrderFilter():
-  # first order filter
-  def __init__(self, x0, ts, dt):
-    self.k = (dt / ts) / (1. + dt / ts)
-    self.x = x0
-
-  def update(self, x):
-    self.x = (1. - self.k) * self.x + self.k * x
-
-
@@ -4,7 +4,7 @@ from common.basedir import BASEDIR
 def get_fingerprint_list():
  # read all the folders in selfdrive/car and return a dict where:
  # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique
+  # - values are lists dicts of messages that constitute the unique 
  #   CAN fingerprint of each car model and all its variants
  fingerprints = {}
  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
@@ -61,4 +61,4 @@ def eliminate_incompatible_cars(msg, candidate_cars):

 def all_known_cars():
  """Returns a list of all known car strings."""
-  return list(_FINGERPRINTS.keys())
+  return _FINGERPRINTS.keys()
@@ -1,10 +0,0 @@
-all: simple_kalman_impl.so
-
-simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
-	python2 simple_kalman_setup.py build_ext --inplace
-	rm -rf build
-	rm simple_kalman_impl.c
-
-.PHONY: clean
-clean:
-	rm -f simple_kalman_impl.so
@@ -1,10 +1,23 @@
-# pylint: skip-file
-import os
-import subprocess
+import numpy as np

-kalman_dir = os.path.dirname(os.path.abspath(__file__))
-subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)

-from simple_kalman_impl import KF1D as KF1D
-# Silence pyflakes
-assert KF1D
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x = x0
+    self.A = A
+    self.C = C
+    self.K = K
+
+    self.A_K = self.A - np.dot(self.K, self.C)
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    return self.x
@@ -1,16 +0,0 @@
-cdef class KF1D:
-  cdef public:
-    double x0_0
-    double x1_0
-    double K0_0
-    double K1_0
-    double A0_0
-    double A0_1
-    double A1_0
-    double A1_1
-    double C0_0
-    double C0_1
-    double A_K_0
-    double A_K_1
-    double A_K_2
-    double A_K_3
@@ -1,35 +0,0 @@
-
-cdef class KF1D:
-  def __init__(self, x0, A, C, K):
-    self.x0_0 = x0[0][0]
-    self.x1_0 = x0[1][0]
-    self.A0_0 = A[0][0]
-    self.A0_1 = A[0][1]
-    self.A1_0 = A[1][0]
-    self.A1_1 = A[1][1]
-    self.C0_0 = C[0]
-    self.C0_1 = C[1]
-    self.K0_0 = K[0][0]
-    self.K1_0 = K[1][0]
-
-    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
-    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
-    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
-    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
-
-  def update(self, meas):
-    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
-    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
-    self.x0_0 = x0_0
-    self.x1_0 = x1_0
-
-    return [self.x0_0, self.x1_0]
-
-  @property
-  def x(self):
-    return [[self.x0_0], [self.x1_0]]
-
-  @x.setter
-  def x(self, x):
-    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]
@@ -1,23 +0,0 @@
-import numpy as np
-
-
-class KF1D:
-  # this EKF assumes constant covariance matrix, so calculations are much simpler
-  # the Kalman gain also needs to be precomputed using the control module
-
-  def __init__(self, x0, A, C, K):
-    self.x = x0
-    self.A = A
-    self.C = C
-    self.K = K
-
-    self.A_K = self.A - np.dot(self.K, self.C)
-
-    # K matrix needs to  be pre-computed as follow:
-    # import control
-    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
-    # self.K = np.transpose(K)
-
-  def update(self, meas):
-    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
-    return self.x
@@ -1,5 +0,0 @@
-from distutils.core import setup, Extension
-from Cython.Build import cythonize
-
-setup(name='Simple Kalman Implementation',
-      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
@@ -1,116 +0,0 @@
-import numpy as np
-import numpy.matlib
-import unittest
-import timeit
-
-from common.kalman.ekf import EKF, SimpleSensor, FastEKF1D
-
-class TestEKF(EKF):
-  def __init__(self, var_init, Q):
-    super(TestEKF, self).__init__(False)
-    self.identity = numpy.matlib.identity(2)
-    self.state = numpy.matlib.zeros((2, 1))
-    self.covar = self.identity * var_init
-
-    self.process_noise = numpy.matlib.diag(Q)
-
-  def calc_transfer_fun(self, dt):
-    tf = numpy.matlib.identity(2)
-    tf[0, 1] = dt
-    return tf, tf
-
-
-class EKFTest(unittest.TestCase):
-  def test_update_scalar(self):
-    ekf = TestEKF(1e3, [0.1, 1])
-    dt = 1. / 100
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(100, 300))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[300], [100]], 1e-4)
-    np.testing.assert_allclose(
-      ekf.covar,
-      np.asarray([[0.0563, 0.10278], [0.10278, 0.55779]]),
-      atol=1e-4)
-
-  def test_unbiased(self):
-    ekf = TestEKF(1e3, [0., 0.])
-    dt = np.float64(1. / 100)
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(1000))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[1000.], [100.]], 1e-4)
-
-
-class FastEKF1DTest(unittest.TestCase):
-  def test_correctness(self):
-    dt = 1. / 100
-    reading = SimpleSensor(0, 1, 2).read(100)
-
-    ekf = TestEKF(1e3, [0.1, 1])
-    fast_ekf = FastEKF1D(dt, 1e3, [0.1, 1])
-
-    ekf.update_scalar(reading)
-    fast_ekf.update_scalar(reading)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-    ekf.predict(dt)
-    fast_ekf.predict(dt)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-  def test_speed(self):
-    setup = """
-import numpy as np
-from common.kalman.tests.test_ekf import TestEKF
-from common.kalman.ekf import SimpleSensor, FastEKF1D
-
-dt = 1. / 100
-reading = SimpleSensor(0, 1, 2).read(100)
-
-var_init, Q = 1e3, [0.1, 1]
-ekf = TestEKF(var_init, Q)
-fast_ekf = FastEKF1D(dt, var_init, Q)
-    """
-
-    timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    ekf_speed = timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    fast_ekf_speed = timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    assert fast_ekf_speed < ekf_speed / 4
-
-if __name__ == "__main__":
-  unittest.main()
@@ -1,85 +0,0 @@
-import unittest
-import random
-import timeit
-import numpy as np
-
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-
-class TestSimpleKalman(unittest.TestCase):
-  def setUp(self):
-    dt = 0.01
-    x0_0 = 0.0
-    x1_0 = 0.0
-    A0_0 = 1.0
-    A0_1 = dt
-    A1_0 = 0.0
-    A1_1 = 1.0
-    C0_0 = 1.0
-    C0_1 = 0.0
-    K0_0 = 0.12287673
-    K1_0 = 0.29666309
-
-    self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                           A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                           C=np.matrix([C0_0, C0_1]),
-                           K=np.matrix([[K0_0], [K1_0]]))
-
-    self.kf = KF1D(x0=[[x0_0], [x1_0]],
-                   A=[[A0_0, A0_1], [A1_0, A1_1]],
-                   C=[C0_0, C0_1],
-                   K=[[K0_0], [K1_0]])
-
-  def test_getter_setter(self):
-    self.kf.x = [[1.0], [1.0]]
-    self.assertEqual(self.kf.x, [[1.0], [1.0]])
-
-  def update_returns_state(self):
-      x = self.kf.update(100)
-      self.assertEqual(x, self.kf.x)
-
-  def test_old_equal_new(self):
-    for _ in range(1000):
-      v_wheel = random.uniform(0, 200)
-
-      x_old = self.kf_old.update(v_wheel)
-      x = self.kf.update(v_wheel)
-
-      # Compare the output x, verify that the error is less than 1e-4
-      self.assertAlmostEqual(x_old[0], x[0])
-      self.assertAlmostEqual(x_old[1], x[1])
-
-
-  def test_new_is_faster(self):
-    setup = """
-import numpy as np
-
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-dt = 0.01
-x0_0 = 0.0
-x1_0 = 0.0
-A0_0 = 1.0
-A0_1 = dt
-A1_0 = 0.0
-A1_1 = 1.0
-C0_0 = 1.0
-C0_1 = 0.0
-K0_0 = 0.12287673
-K1_0 = 0.29666309
-
-kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
-                  A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
-                  C=np.matrix([C0_0, C0_1]),
-                  K=np.matrix([[K0_0], [K1_0]]))
-
-kf = KF1D(x0=[[x0_0], [x1_0]],
-          A=[[A0_0, A0_1], [A1_0, A1_1]],
-          C=[C0_0, C0_1],
-          K=[[K0_0], [K1_0]])
-    """
-    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
-    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
-    self.assertTrue(kf_speed < kf_old_speed / 4)
@@ -29,7 +29,6 @@ import fcntl
 import tempfile
 from enum import Enum

-
 def mkdirs_exists_ok(path):
  try:
    os.makedirs(path)
@@ -37,48 +36,50 @@ def mkdirs_exists_ok(path):
    if not os.path.isdir(path):
      raise

-
 class TxType(Enum):
  PERSISTENT = 1
  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3
-
+  CLEAR_ON_CAR_START = 3

 class UnknownKeyName(Exception):
  pass

-
 keys = {
-  "AccessToken": [TxType.PERSISTENT],
-  "CalibrationParams": [TxType.PERSISTENT],
-  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  "CompletedTrainingVersion": [TxType.PERSISTENT],
-  "ControlsParams": [TxType.PERSISTENT],
-  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  "DongleId": [TxType.PERSISTENT],
-  "GitBranch": [TxType.PERSISTENT],
-  "GitCommit": [TxType.PERSISTENT],
-  "GitRemote": [TxType.PERSISTENT],
-  "HasAcceptedTerms": [TxType.PERSISTENT],
-  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
-  "IsFcwEnabled": [TxType.PERSISTENT],
-  "IsGeofenceEnabled": [TxType.PERSISTENT],
-  "IsMetric": [TxType.PERSISTENT],
-  "IsUpdateAvailable": [TxType.PERSISTENT],
-  "IsUploadRawEnabled": [TxType.PERSISTENT],
-  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
-  "LimitSetSpeed": [TxType.PERSISTENT],
-  "LiveParameters": [TxType.PERSISTENT],
-  "LongitudinalControl": [TxType.PERSISTENT],
-  "Passive": [TxType.PERSISTENT],
-  "RecordFront": [TxType.PERSISTENT],
-  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  "SpeedLimitOffset": [TxType.PERSISTENT],
-  "SubscriberInfo": [TxType.PERSISTENT],
-  "TrainingVersion": [TxType.PERSISTENT],
-  "Version": [TxType.PERSISTENT],
-}
+# written: manager
+# read:    loggerd, uploaderd, offroad
+  "DongleId": TxType.PERSISTENT,
+  "AccessToken": TxType.PERSISTENT,
+  "Version": TxType.PERSISTENT,
+  "TrainingVersion": TxType.PERSISTENT,
+  "GitCommit": TxType.PERSISTENT,
+  "GitBranch": TxType.PERSISTENT,
+  "GitRemote": TxType.PERSISTENT,
+# written: baseui
+# read:    ui, controls
+  "IsMetric": TxType.PERSISTENT,
+  "IsFcwEnabled": TxType.PERSISTENT,
+  "HasAcceptedTerms": TxType.PERSISTENT,
+  "CompletedTrainingVersion": TxType.PERSISTENT,
+  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
+  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
+  "IsGeofenceEnabled": TxType.PERSISTENT,
+# written: visiond
+# read:    visiond, controlsd
+  "CalibrationParams": TxType.PERSISTENT,
+# written: visiond
+# read:    visiond, ui
+  "CloudCalibration": TxType.PERSISTENT,
+# written: controlsd
+# read:    radard
+  "CarParams": TxType.CLEAR_ON_CAR_START,

+  "Passive": TxType.PERSISTENT,
+  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
+  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
+  "IsUpdateAvailable": TxType.PERSISTENT,
+
+  "RecordFront": TxType.PERSISTENT,
+}

 def fsync_dir(path):
  fd = os.open(path, os.O_RDONLY)
@@ -265,62 +266,35 @@ class DBWriter(DBAccessor):
      self._lock = None


-def read_db(params_path, key):
-  path = "%s/d/%s" % (params_path, key)
-  try:
-    with open(path, "rb") as f:
-      return f.read()
-  except IOError:
-    return None

-def write_db(params_path, key, value):
-  prev_umask = os.umask(0)
-  lock = FileLock(params_path+"/.lock", True)
-  lock.acquire()
+class JSDB(object):
+  def __init__(self, fn):
+    self._fn = fn

-  try:
-    tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
-    with open(tmp_path, "wb") as f:
-      f.write(value)
-      f.flush()
-      os.fsync(f.fileno())
-
-    path = "%s/d/%s" % (params_path, key)
-    os.rename(tmp_path, path)
-    fsync_dir(os.path.dirname(path))
-  finally:
-    os.umask(prev_umask)
-    lock.release()
+  def begin(self, write=False):
+    if write:
+      return DBWriter(self._fn)
+    else:
+      return DBReader(self._fn)

 class Params(object):
  def __init__(self, db='/data/params'):
-    self.db = db
-
-    # create the database if it doesn't exist...
-    if not os.path.exists(self.db+"/d"):
-      with self.transaction(write=True):
-        pass
-
-  def transaction(self, write=False):
-    if write:
-      return DBWriter(self.db)
-    else:
-      return DBReader(self.db)
+    self.env = JSDB(db)

  def _clear_keys_with_type(self, tx_type):
-    with self.transaction(write=True) as txn:
+    with self.env.begin(write=True) as txn:
      for key in keys:
-        if tx_type in keys[key]:
+        if keys[key] == tx_type:
          txn.delete(key)

  def manager_start(self):
    self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)

-  def panda_disconnect(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
+  def car_start(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)

  def delete(self, key):
-    with self.transaction(write=True) as txn:
+    with self.env.begin(write=True) as txn:
      txn.delete(key)

  def get(self, key, block=False):
@@ -328,7 +302,8 @@ class Params(object):
      raise UnknownKeyName(key)

    while 1:
-      ret = read_db(self.db, key)
+      with self.env.begin() as txn:
+        ret = txn.get(key)
      if not block or ret is not None:
        break
      # is polling really the best we can do?
@@ -339,7 +314,8 @@ class Params(object):
    if key not in keys:
      raise UnknownKeyName(key)

-    write_db(self.db, key, dat)
+    with self.env.begin(write=True) as txn:
+      txn.put(key, dat)

 if __name__ == "__main__":
  params = Params()
@@ -2,31 +2,58 @@
 import os
 import time
 import platform
+import threading
 import subprocess
 import multiprocessing
+
 from cffi import FFI
-
-# Build and load cython module
-import pyximport
-installer = pyximport.install(inplace=True, build_dir='/tmp')
-from common.clock import monotonic_time, sec_since_boot  # pylint: disable=no-name-in-module, import-error
-pyximport.uninstall(*installer)
-assert monotonic_time
-assert sec_since_boot
-
-
-# time step for each process
-DT_CTRL = 0.01  # controlsd
-DT_PLAN = 0.05  # mpc
-DT_MDL = 0.05  # model
-DT_DMON = 0.1  # driver monitoring
-
-
 ffi = FFI()
-ffi.cdef("long syscall(long number, ...);")
+ffi.cdef("""
+
+typedef int clockid_t;
+struct timespec {
+    long tv_sec;   /* Seconds.  */
+    long tv_nsec;  /* Nanoseconds.  */
+};
+int clock_gettime (clockid_t clk_id, struct timespec *tp);
+
+long syscall(long number, ...);
+
+"""
+)
 libc = ffi.dlopen(None)


+# see <linux/time.h>
+CLOCK_MONOTONIC_RAW = 4
+CLOCK_BOOTTIME = 7
+
+if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
+  c_clock_gettime = libc.clock_gettime
+
+  tlocal = threading.local()
+  def clock_gettime(clk_id):
+    if not hasattr(tlocal, 'ts'):
+      tlocal.ts = ffi.new('struct timespec *')
+
+    ts = tlocal.ts
+
+    r = c_clock_gettime(clk_id, ts)
+    if r != 0:
+      raise OSError("clock_gettime")
+    return ts.tv_sec + ts.tv_nsec * 1e-9
+else:
+  # hack. only for OS X < 10.12
+  def clock_gettime(clk_id):
+    return time.time()
+
+def monotonic_time():
+  return clock_gettime(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+  return clock_gettime(CLOCK_BOOTTIME)
+
+
 def set_realtime_priority(level):
  if os.getuid() != 0:
    print("not setting priority, not root")
@@ -72,9 +99,10 @@ class Ratekeeper(object):
    lagged = False
    remaining = self._next_frame_time - sec_since_boot()
    self._next_frame_time += self._interval
-    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
+    if remaining < -self._print_delay_threshold:
      print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
      lagged = True
    self._frame += 1
    self._remaining = remaining
    return lagged
+
@@ -1,81 +0,0 @@
-#!/usr/bin/env python
-import sympy as sp
-import numpy as np
-
-def cross(x):
-  ret = sp.Matrix(np.zeros((3,3)))
-  ret[0,1], ret[0,2] = -x[2], x[1]
-  ret[1,0], ret[1,2] = x[2], -x[0]
-  ret[2,0], ret[2,1] = -x[1], x[0]
-  return ret
-
-def euler_rotate(roll, pitch, yaw):
-  # make symbolic rotation matrix from eulers
-  matrix_roll =  sp.Matrix([[1, 0, 0],
-                            [0, sp.cos(roll), -sp.sin(roll)],
-                            [0, sp.sin(roll), sp.cos(roll)]])
-  matrix_pitch =  sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
-                             [0, 1, 0],
-                             [-sp.sin(pitch), 0, sp.cos(pitch)]])
-  matrix_yaw =  sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
-                           [sp.sin(yaw), sp.cos(yaw), 0],
-                           [0, 0, 1]])
-  return matrix_yaw*matrix_pitch*matrix_roll
-
-def quat_rotate(q0, q1, q2, q3):
-  # make symbolic rotation matrix from quat
-  return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 + q0*q3), 2*(q1*q3 - q0*q2)],
-                    [2*(q1*q2 - q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 + q0*q1)],
-                    [2*(q1*q3 + q0*q2), 2*(q2*q3 - q0*q1), q0**2 - q1**2 - q2**2 + q3**2]]).T
-
-def quat_matrix_l(p):
-  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
-                    [p[1],  p[0], -p[3],  p[2]],
-                    [p[2],  p[3],  p[0], -p[1]],
-                    [p[3], -p[2],  p[1],  p[0]]])
-
-def quat_matrix_r(p):
-  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
-                    [p[1],  p[0],  p[3], -p[2]],
-                    [p[2], -p[3],  p[0],  p[1]],
-                    [p[3],  p[2], -p[1],  p[0]]])
-
-
-def sympy_into_c(sympy_functions):
-  from sympy.utilities import codegen
-  routines = []
-  for name, expr, args in sympy_functions:
-    r = codegen.make_routine(name, expr, language="C99")
-
-    # argument ordering input to sympy is broken with function with output arguments
-    nargs = []
-    # reorder the input arguments
-    for aa in args:
-      if aa is None:
-        nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1,1]))
-        continue
-      found = False
-      for a in r.arguments:
-        if str(aa.name) == str(a.name):
-          nargs.append(a)
-          found = True
-          break
-      if not found:
-        # [1,1] is a hack for Matrices
-        nargs.append(codegen.InputArgument(aa, dimensions=[1,1]))
-    # add the output arguments
-    for a in r.arguments:
-      if type(a) == codegen.OutputArgument:
-        nargs.append(a)
-
-    #assert len(r.arguments) == len(args)+1
-    r.arguments = nargs
-
-    # add routine to list
-    routines.append(r)
-
-  [(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
-  c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
-  c_header = '\n'.join(x for x in  c_header.split("\n") if len(x) > 0 and x[0] != '#')
-
-  return c_header, c_code
@@ -1,28 +0,0 @@
-import signal
-
-class TimeoutException(Exception):
-  pass
-
-class Timeout:
-  """
-  Timeout context manager.
-  For example this code will raise a TimeoutException:
-  with Timeout(seconds=5, error_msg="Sleep was too long"):
-    time.sleep(10)
-  """
-  def __init__(self, seconds, error_msg=None):
-    if error_msg is None:
-      error_msg = 'Timed out after {} seconds'.format(seconds)
-    self.seconds = seconds
-    self.error_msg = error_msg
-
-  def handle_timeout(self, signume, frame):
-    raise TimeoutException(self.error_msg)
-
-  def __enter__(self):
-    signal.signal(signal.SIGALRM, self.handle_timeout)
-    signal.alarm(self.seconds)
-
-  def __exit__(self, exc_type, exc_val, exc_tb):
-    signal.alarm(0)
-
@@ -1,216 +0,0 @@
-import numpy as np
-import common.transformations.orientation as orient
-import math
-
-FULL_FRAME_SIZE = (1164, 874)
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
-eon_focal_length = FOCAL = 910.0
-
-# aka 'K' aka camera_frame_from_view_frame
-eon_intrinsics = np.array([
-  [FOCAL,   0.,   W/2.],
-  [  0.,  FOCAL,  H/2.],
-  [  0.,    0.,     1.]])
-
-
-leon_dcam_intrinsics = np.array([
-  [650,   0,   816//2],
-  [  0,  650,  612//2],
-  [  0,    0,     1]])
-
-eon_dcam_intrinsics = np.array([
-  [860,   0,   1152//2],
-  [  0,  860,  864//2],
-  [  0,    0,     1]])
-
-# aka 'K_inv' aka view_frame_from_camera_frame
-eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
-
-
-# device/mesh : x->forward, y-> right, z->down
-# view : x->right, y->down, z->forward
-device_frame_from_view_frame = np.array([
-  [ 0.,  0.,  1.],
-  [ 1.,  0.,  0.],
-  [ 0.,  1.,  0.]
-])
-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))
-  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):
-  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]]))
-
-
-def vp_from_ke(m):
-  """
-  Computes the vanishing point from the product of the intrinsic and extrinsic
-  matrices C = KE.
-
-  The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
-  """
-  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
-
-def roll_from_ke(m):
-  # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
-  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, 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 = img_pts.dot(intrinsics_inv.T)
-  img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
-  return img_pts_normalized[:,:2].reshape(input_shape)
-
-
-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 = img_pts.dot(intrinsics.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
-  # accepts single pt or array of pts
-  input_shape = pt_ecef.shape
-  pt_ecef = np.atleast_2d(pt_ecef)
-  ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
-  device_from_ecef_rot = ecef_from_device_rot.T
-  pt_ecef_rel = pt_ecef - pos_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
-  # accepts single pt or array of pts
-  input_shape = pt_device.shape
-  pt_device = np.atleast_2d(pt_device)
-  pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
-
-  # This function should never return negative depths
-  pt_view[pt_view[:,2] < 0] = np.nan
-
-  pt_img = pt_view/pt_view[:,2:3]
-  return pt_img.reshape(input_shape)[:,:2]
-
-
-#TODO please use generic img transform below
-def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
-  import cv2
-
-  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]
-
-
-def transform_img(base_img,
-                 augment_trans=np.array([0,0,0]),
-                 augment_eulers=np.array([0,0,0]),
-                 from_intr=eon_intrinsics,
-                 to_intr=eon_intrinsics,
-                 calib_rot_view=None,
-                 output_size=None,
-                 pretransform=None,
-                 top_hacks=True):
-  import cv2
-
-  size = base_img.shape[:2]
-  if not output_size:
-    output_size = size[::-1]
-
-  cy = from_intr[1,2]
-  def get_M(h=1.22):
-    quadrangle = np.array([[0, cy + 20],
-                           [size[1]-1, cy + 20],
-                           [0, size[0]-1],
-                           [size[1]-1, size[0]-1]], dtype=np.float32)
-    quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
-    quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
-                                        h*np.ones(4),
-                                        h/quadrangle_norm[:,1]))
-    rot = orient.rot_from_euler(augment_eulers)
-    if calib_rot_view is not None:
-      rot = calib_rot_view.dot(rot)
-    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
-    to_KE = to_intr.dot(to_extrinsics)
-    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
-    warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                         warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-    M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
-    return M
-
-  M = get_M()
-  if pretransform is not None:
-    M = M.dot(pretransform)
-  augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
-
-  if top_hacks:
-    cyy = int(math.ceil(to_intr[1,2]))
-    M = get_M(1000)
-    if pretransform is not None:
-      M = M.dot(pretransform)
-    augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
-
-  return augmented_rgb
-
-def yuv_crop(frame, output_size, center=None):
-  # output_size in camera coordinates so u,v
-  # center in array coordinates so row, column
-  import cv2
-  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
-  if not center:
-    center = (rgb.shape[0]/2, rgb.shape[1]/2)
-  rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
-                 center[1] - output_size[0]/2: center[1] + output_size[0]/2]
-  return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
@@ -1,150 +0,0 @@
-import numpy as np
-
-from common.transformations.camera import eon_focal_length, \
-        vp_from_ke, get_view_frame_from_road_frame, \
-        FULL_FRAME_SIZE
-
-# segnet
-
-SEGNET_SIZE = (512, 384)
-
-segnet_frame_from_camera_frame = np.array([
-  [float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0],    0.,          ],
-  [     0.,          float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
-
-
-# model
-
-MODEL_INPUT_SIZE = (320, 160)
-MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0]/2.
-MODEL_CY = 21.
-
-model_zoom = 1.25
-model_height = 1.22
-
-# canonical model transform
-model_intrinsics = np.array(
-  [[ eon_focal_length / model_zoom,    0. ,  MODEL_CX],
-   [   0. ,  eon_focal_length / model_zoom,  MODEL_CY],
-   [   0. ,                            0. ,   1.]])
-
-
-# MED model
-MEDMODEL_INPUT_SIZE = (512, 256)
-MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
-MEDMODEL_CY = 47.6
-
-medmodel_zoom = 1.
-medmodel_intrinsics = np.array(
-  [[ eon_focal_length / medmodel_zoom,    0. ,  0.5 * MEDMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
-   [   0. ,                            0. ,   1.]])
-
-
-# BIG model
-
-BIGMODEL_INPUT_SIZE = (864, 288)
-BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
-
-bigmodel_zoom = 1.
-bigmodel_intrinsics = np.array(
-  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  0.2 * BIGMODEL_INPUT_SIZE[1]],
-   [   0. ,                            0. ,   1.]])
-
-
-bigmodel_border = np.array([
-    [0,0,1],
-    [BIGMODEL_INPUT_SIZE[0], 0, 1],
-    [BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
-    [0, BIGMODEL_INPUT_SIZE[1], 1],
-])
-
-
-model_frame_from_road_frame = np.dot(model_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
-bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
-medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
-model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
-
-# 'camera from model camera'
-def get_model_height_transform(camera_frame_from_road_frame, height):
-  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, 0],
-      [0, 0, 1],
-  ]))
-
-  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, height - model_height],
-      [0, 0, 1],
-  ]))
-
-  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
-  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
-
-  return high_camera_from_low_camera
-
-
-# camera_frame_from_model_frame aka 'warp matrix'
-# was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
-  vp = vp_from_ke(camera_frame_from_road_frame)
-
-  model_camera_from_model_frame = np.array([
-    [model_zoom,         0., vp[0] - MODEL_CX * model_zoom],
-    [        0., model_zoom, vp[1] - MODEL_CY * model_zoom],
-    [        0.,         0.,                            1.],
-  ])
-
-  # This function is super slow, so skip it if height is very close to canonical
-  # TODO: speed it up!
-  if abs(height - model_height) > 0.001: #
-    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
-  else:
-    camera_from_model_camera = np.eye(3)
-
-  return np.dot(camera_from_model_camera, model_camera_from_model_frame)
-
-
-def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
-
-  ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
-  camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
-
-  return camera_frame_from_medmodel_frame
-
-
-def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
-
-  ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
-  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
-
-  return camera_frame_from_bigmodel_frame
-
-
-def get_model_frame(snu_full, camera_frame_from_model_frame, size):
-  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
-                                                            np.tile(np.arange(size[1]), (size[0],1)).T.flatten(),
-                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
-  calib_flat = snu_full[idxs[:,1], idxs[:,0]]
-  if len(snu_full.shape) == 3:
-    calib = calib_flat.reshape((size[1], size[0], 3))
-  elif len(snu_full.shape) == 2:
-    calib = calib_flat.reshape((size[1], size[0]))
-  else:
-    raise ValueError("shape of input img is weird")
-  return calib
@@ -1,295 +0,0 @@
-import numpy as np
-from numpy import dot, inner, array, linalg
-from common.transformations.coordinates import LocalCoord
-
-
-'''
-Vectorized functions that transform between
-rotation matrices, euler angles and quaternions.
-All support lists, array or array of arrays as inputs.
-Supports both x2y and y_from_x format (y_from_x preferred!).
-'''
-
-def euler2quat(eulers):
-  eulers = array(eulers)
-  if len(eulers.shape) > 1:
-    output_shape = (-1,4)
-  else:
-    output_shape = (4,)
-  eulers = np.atleast_2d(eulers)
-  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
-
-  q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
-       np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
-  q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
-       np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
-  q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
-       np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
-  q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
-       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
-
-  quats = array([q0, q1, q2, q3]).T
-  for i in xrange(len(quats)):
-    if quats[i,0] < 0:
-      quats[i] = -quats[i]
-  return quats.reshape(output_shape)
-
-
-def quat2euler(quats):
-  quats = array(quats)
-  if len(quats.shape) > 1:
-    output_shape = (-1,3)
-  else:
-    output_shape = (3,)
-  quats = np.atleast_2d(quats)
-  q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
-
-  gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
-  theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
-  psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
-
-  eulers = array([gamma, theta, psi]).T
-  return eulers.reshape(output_shape)
-
-
-def quat2rot(quats):
-  quats = array(quats)
-  input_shape = quats.shape
-  quats = np.atleast_2d(quats)
-  Rs = np.zeros((quats.shape[0], 3, 3))
-  q0 = quats[:, 0]
-  q1 = quats[:, 1]
-  q2 = quats[:, 2]
-  q3 = quats[:, 3]
-  Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
-  Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
-  Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
-  Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
-  Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
-  Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
-  Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
-  Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
-  Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
-
-  if len(input_shape) < 2:
-    return Rs[0]
-  else:
-    return Rs
-
-
-def rot2quat(rots):
-  input_shape = rots.shape
-  if len(input_shape) < 3:
-    rots = array([rots])
-  K3 = np.empty((len(rots), 4, 4))
-  K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
-  K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
-  K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
-  K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
-  K3[:, 1, 0] = K3[:, 0, 1]
-  K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
-  K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
-  K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
-  K3[:, 2, 0] = K3[:, 0, 2]
-  K3[:, 2, 1] = K3[:, 1, 2]
-  K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
-  K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
-  K3[:, 3, 0] = K3[:, 0, 3]
-  K3[:, 3, 1] = K3[:, 1, 3]
-  K3[:, 3, 2] = K3[:, 2, 3]
-  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
-  q = np.empty((len(rots), 4))
-  for i in xrange(len(rots)):
-    _, eigvecs = linalg.eigh(K3[i].T)
-    eigvecs = eigvecs[:,3:]
-    q[i, 0] = eigvecs[-1]
-    q[i, 1:] = -eigvecs[:-1].flatten()
-    if q[i, 0] < 0:
-      q[i] = -q[i]
-
-  if len(input_shape) < 3:
-    return q[0]
-  else:
-    return q
-
-
-def euler2rot(eulers):
-  return rotations_from_quats(euler2quat(eulers))
-
-
-def rot2euler(rots):
-  return quat2euler(quats_from_rotations(rots))
-
-
-quats_from_rotations = rot2quat
-quat_from_rot = rot2quat
-rotations_from_quats = quat2rot
-rot_from_quat= quat2rot
-rot_from_quat= quat2rot
-euler_from_rot = rot2euler
-euler_from_quat = quat2euler
-rot_from_euler = euler2rot
-quat_from_euler = euler2quat
-
-
-
-
-
-
-'''
-Random helpers below
-'''
-
-
-def quat_product(q, r):
-  t = np.zeros(4)
-  t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
-  t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
-  t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
-  t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
-  return t
-
-
-def rot_matrix(roll, pitch, yaw):
-  cr, sr = np.cos(roll), np.sin(roll)
-  cp, sp = np.cos(pitch), np.sin(pitch)
-  cy, sy = np.cos(yaw), np.sin(yaw)
-  rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
-  rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
-  ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
-  return ry.dot(rp.dot(rr))
-
-
-def rot(axis, angle):
-  # Rotates around an arbitrary axis
-  ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
-    axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
-  ], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
-  ret_2 = np.cos(angle) * np.eye(3)
-  ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
-                              [-axis[1], axis[0], 0]])
-  return ret_1 + ret_2 + ret_3
-
-
-def ecef_euler_from_ned(ned_ecef_init, ned_pose):
-  '''
-  Got it from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-  '''
-  converter = LocalCoord.from_ecef(ned_ecef_init)
-  x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-  y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-  z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-  x1 = rot(z0, ned_pose[2]).dot(x0)
-  y1 = rot(z0, ned_pose[2]).dot(y0)
-  z1 = rot(z0, ned_pose[2]).dot(z0)
-
-  x2 = rot(y1, ned_pose[1]).dot(x1)
-  y2 = rot(y1, ned_pose[1]).dot(y1)
-  z2 = rot(y1, ned_pose[1]).dot(z1)
-
-  x3 = rot(x2, ned_pose[0]).dot(x2)
-  y3 = rot(x2, ned_pose[0]).dot(y2)
-  #z3 = rot(x2, ned_pose[0]).dot(z2)
-
-  x0 = array([1, 0, 0])
-  y0 = array([0, 1, 0])
-  z0 = array([0, 0, 1])
-
-  psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-  theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-  y2 = rot(z0, psi).dot(y0)
-  z2 = rot(y2, theta).dot(z0)
-  phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-
-  ret = array([phi, theta, psi])
-  return ret
-
-
-def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
-  '''
-  Got the math from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-
-  Also accepts array of ecef_poses and array of ned_ecef_inits.
-  Where each row is a pose and an ecef_init.
-  '''
-  ned_ecef_init = array(ned_ecef_init)
-  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)
-  for i, ecef_pose in enumerate(ecef_poses):
-    converter = LocalCoord.from_ecef(ned_ecef_init[i])
-    x0 = array([1, 0, 0])
-    y0 = array([0, 1, 0])
-    z0 = array([0, 0, 1])
-
-    x1 = rot(z0, ecef_pose[2]).dot(x0)
-    y1 = rot(z0, ecef_pose[2]).dot(y0)
-    z1 = rot(z0, ecef_pose[2]).dot(z0)
-
-    x2 = rot(y1, ecef_pose[1]).dot(x1)
-    y2 = rot(y1, ecef_pose[1]).dot(y1)
-    z2 = rot(y1, ecef_pose[1]).dot(z1)
-
-    x3 = rot(x2, ecef_pose[0]).dot(x2)
-    y3 = rot(x2, ecef_pose[0]).dot(y2)
-    #z3 = rot(x2, ecef_pose[0]).dot(z2)
-
-    x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-    y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-    z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-    psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-    theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-    y2 = rot(z0, psi).dot(y0)
-    z2 = rot(y2, theta).dot(z0)
-    phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-    ned_poses[i] = array([phi, theta, psi])
-
-  return ned_poses.reshape(output_shape)
-
-
-def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
-  """
-  TODO: add roll rotation
-  Converts an array of points in ecef coordinates into
-  x-forward, y-left, z-up coordinates
-  Parameters
-  ----------
-  psi: yaw, radian
-  theta: pitch, radian
-  Returns
-  -------
-  [x, y, z] coordinates in car frame
-  """
-
-  # input is an array of points in ecef cocrdinates
-  # output is an array of points in car's coordinate (x-front, y-left, z-up)
-
-  # convert points to NED
-  points_ned = []
-  for p in points_ecef:
-    points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
-
-  points_ned = np.vstack(points_ned).T
-
-  # n, e, d -> x, y, z
-  # Calculate relative postions and rotate wrt to heading and pitch of car
-  invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
-
-  c, s = np.cos(psi), np.sin(psi)
-  yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
-
-  c, s = np.cos(theta), np.sin(theta)
-  pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
-
-  return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))
@@ -1,95 +0,0 @@
-#!/usr/bin/env python
-import time
-from common.realtime import sec_since_boot
-import selfdrive.messaging as messaging
-from selfdrive.boardd.boardd import can_list_to_can_capnp
-
-def get_vin(logcan, sendcan):
-
-  # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
-  # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
-  query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
-               [0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
-
-  cnts = [1, 2]  # Number of messages to wait for at each iteration
-  vin_valid = True
-
-  dat = []
-  for i in range(len(query_msg)):
-    cnt = 0
-    sendcan.send(can_list_to_can_capnp([query_msg[i]], msgtype='sendcan'))
-    got_response = False
-    t_start = sec_since_boot()
-    while sec_since_boot() - t_start < 0.05 and not got_response:
-      for a in messaging.drain_sock(logcan):
-        for can in a.can:
-          if can.src == 0 and can.address == 0x7e8:
-            vin_valid = vin_valid and is_vin_response_valid(can.dat, i, cnt)
-            dat += can.dat[2:] if i == 0 else can.dat[1:]
-            cnt += 1
-            if cnt == cnts[i]:
-              got_response = True
-      time.sleep(0.01)
-
-  return "".join(dat[3:]) if vin_valid else ""
-
-"""
-if 'vin' not in gctx:
-  print "getting vin"
-  gctx['vin'] = query_vin()[3:]
-  print "got VIN %s" % (gctx['vin'],)
-  cloudlog.info("got VIN %s" % (gctx['vin'],))
-
-# *** determine platform based on VIN ****
-if vin.startswith("19UDE2F36G"):
-  print "ACURA ILX 2016"
-  self.civic = False
-else:
-  # TODO: add Honda check explicitly
-  print "HONDA CIVIC 2016"
-  self.civic = True
-
-# *** special case VIN of Acura test platform
-if vin == "19UDE2F36GA001322":
-  print "comma.ai test platform detected"
-  # it has a gas interceptor and a torque mod
-  self.torque_mod = True
-"""
-
-
-# sanity checks on response messages from vin query
-def is_vin_response_valid(can_dat, step, cnt):
-
-  can_dat = [ord(i) for i in can_dat]
-
-  if len(can_dat) != 8:
-    # ISO-TP meesages are all 8 bytes
-    return False
-
-  if step == 0:
-    # VIN does not fit in a single message and it's 20 bytes of data
-    if can_dat[0] != 0x10 or can_dat[1] != 0x14:
-       return False
-
-  if step == 1 and cnt == 0:
-    # first response after a CONTINUE query is sent
-    if can_dat[0] != 0x21:
-       return False
-
-  if step == 1 and cnt == 1:
-    # second response after a CONTINUE query is sent
-    if can_dat[0] != 0x22:
-       return False
-
-  return True
-
-
-if __name__ == "__main__":
-  import zmq
-  from selfdrive.services import service_list
-  context = zmq.Context()
-  logcan = messaging.sub_sock(context, service_list['can'].port)
-  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
-  time.sleep(1.)   # give time to sendcan socket to start
-
-  print get_vin(logcan, sendcan)
@@ -1,88 +0,0 @@
-CC = clang
-CXX = clang++
-
-PHONELIBS = ../../phonelibs
-
-WARN_FLAGS = -Werror=implicit-function-declaration \
-             -Werror=incompatible-pointer-types \
-             -Werror=int-conversion \
-             -Werror=return-type \
-             -Werror=format-extra-args
-
-CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
-
-CURL_FLAGS = -I$(PHONELIBS)/curl/include
-CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
-            $(PHONELIBS)/zlib/lib/libz.a
-
-BORINGSSL_FLAGS = -I$(PHONELIBS)/boringssl/include
-BORINGSSL_LIBS = $(PHONELIBS)/boringssl/lib/libssl_static.a \
-                 $(PHONELIBS)/boringssl/lib/libcrypto_static.a \
-
-NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
-
-JSON11_FLAGS = -I$(PHONELIBS)/json11
-
-OPENGL_LIBS = -lGLESv3
-
-FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
-
-.PHONY: all
-all: updater
-
-OBJS = courbd.ttf.o \
-       ../../selfdrive/common/touch.o \
-       ../../selfdrive/common/framebuffer.o \
-       $(PHONELIBS)/json11/json11.o \
-       $(PHONELIBS)/nanovg/nanovg.o
-
-DEPS := $(OBJS:.o=.d)
-
-updater: updater.o $(OBJS)
-	@echo "[ LINK ] $@"
-	$(CXX) $(CPPFLAGS) -fPIC -o 'updater' $^ \
-    $(FRAMEBUFFER_LIBS) \
-    $(CURL_LIBS) \
-    $(BORINGSSL_LIBS) \
-    -L/system/vendor/lib64 \
-    $(OPENGL_LIBS) \
-    -lcutils -lm -llog
-	strip updater
-
-courbd.ttf.o: ../../selfdrive/assets/courbd.ttf
-	@echo "[ bin2o ] $@"
-	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
-
-%.o: %.c
-	mkdir -p $(@D)
-	@echo "[ CC ] $@"
-	$(CC) $(CPPFLAGS) $(CFLAGS) \
-          -I../.. \
-          -I$(PHONELIBS)/android_frameworks_native/include \
-          -I$(PHONELIBS)/android_system_core/include \
-          -I$(PHONELIBS)/android_hardware_libhardware/include \
-          $(NANOVG_FLAGS) \
-          -c -o '$@' '$<'
-
-%.o: %.cc
-	mkdir -p $(@D)
-	@echo "[ CXX ] $@"
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) \
-           -I../../selfdrive \
-           -I../../ \
-           -I$(PHONELIBS)/android_frameworks_native/include \
-           -I$(PHONELIBS)/android_system_core/include \
-           -I$(PHONELIBS)/android_hardware_libhardware/include \
-           $(NANOVG_FLAGS) \
-           $(JSON11_FLAGS) \
-           $(CURL_FLAGS) \
-           $(BORINGSSL_FLAGS) \
-           -c -o '$@' '$<'
-
-
-.PHONY: clean
-clean:
-	rm -f $(OBJS) $(DEPS)
-
-include $(DEPS)
@@ -1,7 +0,0 @@
-{
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f.zip",
-  "ota_hash": "c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a.img",
-  "recovery_len": 15136044,
-  "recovery_hash": "af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a"
-}
@@ -1,675 +0,0 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
-#include <fstream>
-#include <mutex>
-#include <thread>
-
-#include <curl/curl.h>
-#include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-
-#include "nanovg.h"
-#define NANOVG_GLES3_IMPLEMENTATION
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-
-#include "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/utilpp.h"
-
-#define USER_AGENT "NEOSUpdater-0.2"
-
-#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
-#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
-#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
-const char *manifest_url = MANIFEST_URL_EON;
-
-#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
-#define RECOVERY_COMMAND "/cache/recovery/command"
-
-#define UPDATE_DIR "/data/neoupdate"
-
-extern const uint8_t bin_courbd[] asm("_binary_courbd_ttf_start");
-extern const uint8_t bin_courbd_end[] asm("_binary_courbd_ttf_end");
-
-namespace {
-
-std::string sha256_file(std::string fn, size_t limit=0) {
-  SHA256_CTX ctx;
-  SHA256_Init(&ctx);
-
-  FILE *file = fopen(fn.c_str(), "rb");
-  if (!file) return "";
-
-  const size_t buf_size = 8192;
-  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-  bool read_limit = (limit != 0);
-  while (true) {
-    size_t read_size = buf_size;
-    if (read_limit) read_size = std::min(read_size, limit);
-    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
-    if (!bytes_read) break;
-
-    SHA256_Update(&ctx, buffer.get(), bytes_read);
-
-    if (read_limit) {
-      limit -= bytes_read;
-      if (limit == 0) break;
-    }
-  }
-
-  uint8_t hash[SHA256_DIGEST_LENGTH];
-  SHA256_Final(hash, &ctx);
-
-  fclose(file);
-
-  return util::tohex(hash, sizeof(hash));
-}
-
-size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  size_t sz = size * nmeb;
-  ((std::string*)up)->append((char*)ptr, sz);
-  return sz;
-}
-
-std::string download_string(CURL *curl, std::string url) {
-  std::string os;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
-
-  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
-
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
-  CURLcode res = curl_easy_perform(curl);
-  if (res != CURLE_OK) {
-    return "";
-  }
-
-  return os;
-}
-
-size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  return fwrite(ptr, size, nmeb, (FILE*)up);
-}
-
-bool check_battery() {
-  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
-  int bat_cap = atoi(bat_cap_s.c_str());
-  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
-  int current_now = atoi(current_now_s.c_str());
-  return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
-}
-
-bool check_space() {
-  struct statvfs stat;
-  if (statvfs("/data/", &stat) != 0) {
-    return false;
-  }
-  size_t space = stat.f_bsize * stat.f_bavail;
-  return space > 2000000000ULL; // 2GB
-}
-
-static void start_settings_activity(const char* name) {
-  char launch_cmd[1024];
-  snprintf(launch_cmd, sizeof(launch_cmd),
-           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
-  system(launch_cmd);
-}
-
-struct Updater {
-  bool do_exit = false;
-
-  TouchState touch;
-
-  int fb_w, fb_h;
-  EGLDisplay display;
-  EGLSurface surface;
-
-  FramebufferState *fb = NULL;
-  NVGcontext *vg = NULL;
-  int font;
-
-  std::thread update_thread_handle;
-
-  std::mutex lock;
-
-  // i hate state machines give me coroutines already
-  enum UpdateState {
-    CONFIRMATION,
-    RUNNING,
-    ERROR,
-  };
-  UpdateState state;
-
-  std::string progress_text;
-  float progress_frac;
-
-  std::string error_text;
-
-  // button
-  int b_x, b_w, b_y, b_h;
-  int balt_x;
-
-  CURL *curl = NULL;
-
-  Updater() {
-    touch_init(&touch);
-
-    fb = framebuffer_init("updater", 0x00001000, false,
-                          &display, &surface, &fb_w, &fb_h);
-    assert(fb);
-
-    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
-    assert(vg);
-    font = nvgCreateFontMem(vg, "courbd", (unsigned char*)bin_courbd, (bin_courbd_end - bin_courbd), 0);
-    assert(font >= 0);
-
-    b_w = 600;
-    balt_x = 200;
-    b_x = fb_w-b_w-200;
-    b_y = 700;
-    b_h = 250;
-
-    state = CONFIRMATION;
-
-  }
-
-  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
-                             curl_off_t ultotal, curl_off_t ulnow) {
-    {
-      std::lock_guard<std::mutex> guard(lock);
-      if (dltotal != 0) {
-        progress_frac = (float) dlno / dltotal;
-      }
-    }
-    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
-    return 0;
-  }
-
-  bool download_file(std::string url, std::string out_fn) {
-    FILE *of = fopen(out_fn.c_str(), "ab");
-    assert(of);
-
-    CURLcode res;
-    long last_resume_from = 0;
-
-    fseek(of, 0, SEEK_END);
-
-    int tries = 4;
-
-    bool ret = false;
-
-    while (true) {
-      long resume_from = ftell(of);
-
-      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
-      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
-
-      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
-      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
-
-      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
-
-      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
-      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
-
-      CURLcode res = curl_easy_perform(curl);
-
-      long response_code = 0;
-      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
-
-      // double content_length = 0.0;
-      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-
-      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
-      if (res == CURLE_OK) {
-        ret = true;
-        break;
-      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
-        // failed because the file is already complete?
-        ret = true;
-        break;
-      } else if (resume_from == last_resume_from) {
-        // failed and dind't make make forward progress. only retry a couple times
-        tries--;
-        if (tries <= 0) {
-          break;
-        }
-      }
-      last_resume_from = resume_from;
-    }
-    // printf("res %d\n", res);
-
-    // printf("- %ld %f\n", response_code, content_length);
-
-    fclose(of);
-
-    return ret;
-  }
-
-  void set_progress(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    progress_text = text;
-  }
-
-  void set_error(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    error_text = text;
-    state = ERROR;
-  }
-
-  std::string stage_download(std::string url, std::string hash, std::string name) {
-    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
-
-    set_progress("downloading " + name + "...");
-    bool r = download_file(url, out_fn);
-    if (!r) {
-      set_error("failed to download " + name);
-      return "";
-    }
-
-    set_progress("verifying " + name + "...");
-    std::string fn_hash = sha256_file(out_fn);
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
-    if (fn_hash != hash) {
-      set_error(name + " was corrupt");
-      unlink(out_fn.c_str());
-      return "";
-    }
-
-    return out_fn;
-  }
-
-  void run_stages() {
-    curl = curl_easy_init();
-    assert(curl);
-
-    if (!check_battery()) {
-      set_error("Please plug power in to your EON and wait for charge");
-      return;
-    }
-
-    if (!check_space()) {
-      set_error("2GB of free space required to update");
-      return;
-    }
-
-    mkdir(UPDATE_DIR, 0777);
-
-    const int EON = (access("/EON", F_OK) != -1);
-
-    set_progress("finding latest version...");
-    std::string manifest_s;
-    if (EON) {
-      manifest_s = download_string(curl, manifest_url);
-    } else {
-      // don't update NEO
-      exit(0);
-    }
-
-    printf("manifest: %s\n", manifest_s.c_str());
-
-    std::string err;
-    auto manifest = json11::Json::parse(manifest_s, err);
-    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
-      return;
-    }
-
-    std::string ota_url = manifest["ota_url"].string_value();
-    std::string ota_hash = manifest["ota_hash"].string_value();
-
-    std::string recovery_url = manifest["recovery_url"].string_value();
-    std::string recovery_hash = manifest["recovery_hash"].string_value();
-    int recovery_len = manifest["recovery_len"].int_value();
-
-    // std::string installer_url = manifest["installer_url"].string_value();
-    // std::string installer_hash = manifest["installer_hash"].string_value();
-
-    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
-      return;
-    }
-
-    // std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
-    // if (installer_fn.empty()) {
-    //   //error'd
-    //   return;
-    // }
-
-    std::string recovery_fn;
-    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("skipping recovery flash...");
-    } else {
-      // only download the recovery if it differs from what's flashed
-      set_progress("checking recovery...");
-      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
-
-      if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
-        if (recovery_fn.empty()) {
-          // error'd
-          return;
-        }
-      }
-    }
-
-    std::string ota_fn = stage_download(ota_url, ota_hash, "update");
-    if (ota_fn.empty()) {
-      //error'd
-      return;
-    }
-
-    if (!check_battery()) {
-      set_error("must have at least 35% battery to update");
-      return;
-    }
-
-    if (!recovery_fn.empty()) {
-      // flash recovery
-      set_progress("flashing recovery...");
-
-      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
-      if (!flash_file) {
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
-      if (!recovery_dev) {
-        fclose(flash_file);
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      const size_t buf_size = 4096;
-      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-      while (true) {
-        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
-        if (!bytes_read) break;
-
-        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
-        if (bytes_read != bytes_written) {
-          fclose(recovery_dev);
-          fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
-          return;
-        }
-      }
-
-      fclose(recovery_dev);
-      fclose(flash_file);
-
-      set_progress("verifying flash...");
-      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
-
-      if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
-        return;
-      }
-
-    }
-
-    // write arguments to recovery
-    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
-    if (!cmd_file) {
-      set_error("failed to reboot into recovery");
-      return;
-    }
-    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
-    fclose(cmd_file);
-
-    set_progress("rebooting");
-
-    // remove the continue.sh so we come back into the setup.
-    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
-    //unlink("/data/data/com.termux/files/continue.sh");
-
-    // TODO: this should be generic between android versions
-    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
-    system("service call power 16 i32 0 s16 recovery i32 1");
-    while(1) pause();
-
-    // execl("/system/bin/reboot", "recovery");
-    // set_error("failed to reboot into recovery");
-  }
-
-  void draw_ack_screen(const char *message, const char *button, const char *altbutton) {
-    nvgFontSize(vg, 96.0f);
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
-    nvgTextBox(vg, 50, 100, fb_w-100, message, NULL);
-
-    // draw button
-    if (button) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-
-    // draw button
-    if (altbutton) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-  }
-
-  void draw_progress_screen() {
-    // draw progress message
-    nvgFontSize(vg, 64.0f);
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-    nvgTextBox(vg, 0, 700, fb_w, progress_text.c_str(), NULL);
-
-    // draw progress bar
-    {
-      int progress_width = 800;
-      int progress_x = fb_w/2-progress_width/2;
-      int progress_y = 768;
-      int progress_height = 15;
-
-      int powerprompt_y = 512;
-      nvgText(vg, fb_w/2, powerprompt_y, "Ensure EON is connected to power", NULL);
-
-      NVGpaint paint = nvgBoxGradient(
-          vg, progress_x + 1, progress_y + 1,
-          progress_width - 2, progress_height, 3, 4, nvgRGB(0, 32, 0), nvgRGB(0, 92, 0));
-      nvgBeginPath(vg);
-      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 3);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-
-      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
-      int bar_pos = ((progress_width - 2) * value);
-
-      paint = nvgBoxGradient(
-          vg, progress_x, progress_y,
-          bar_pos+1.5f, progress_height-1, 3, 4,
-          nvgRGB(220, 100, 0), nvgRGB(128, 100, 0));
-
-      nvgBeginPath(vg);
-      nvgRoundedRect(
-          vg, progress_x+1, progress_y+1,
-          bar_pos, progress_height-2, 3);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-    }
-  }
-
-  void ui_draw() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
-
-    switch (state) {
-    case CONFIRMATION:
-      draw_ack_screen("An upgrade to NEOS is required.\n\n"
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB\nData on device shouldn't be lost.",
-                      "continue",
-                      "wifi");
-      break;
-    case RUNNING:
-      draw_progress_screen();
-      break;
-    case ERROR:
-      draw_ack_screen(("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
-      break;
-    }
-
-    nvgEndFrame(vg);
-  }
-
-  void ui_update() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    switch (state) {
-    case ERROR:
-    case CONFIRMATION: {
-      int touch_x = -1, touch_y = -1;
-      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
-      if (res == 1 && !is_settings_active()) {
-        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            state = RUNNING;
-            update_thread_handle = std::thread(&Updater::run_stages, this);
-          }
-        }
-        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            start_settings_activity("Settings$WifiSettingsActivity");
-          } else if (state == ERROR) {
-            do_exit = 1;
-          }
-        }
-      }
-    }
-    default:
-      break;
-    }
-  }
-
-
-  void go() {
-    while (!do_exit) {
-      ui_update();
-
-      glClearColor(0.19, 0.09, 0.2, 1.0);
-      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-      glEnable(GL_BLEND);
-      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-
-      ui_draw();
-
-      glDisable(GL_BLEND);
-
-      eglSwapBuffers(display, surface);
-      assert(glGetError() == GL_NO_ERROR);
-
-      // no simple way to do 30fps vsync with surfaceflinger...
-      usleep(30000);
-    }
-
-    if (update_thread_handle.joinable()) {
-      update_thread_handle.join();
-    }
-
-    system("service call power 16 i32 0 i32 0 i32 1");
-  }
-
-  bool is_settings_active() {
-    FILE *fp;
-    char sys_output[4096];
-
-    fp = popen("/bin/dumpsys window windows", "r");
-    if (fp == NULL) {
-      return false;
-    }
-
-    bool active = false;
-    while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
-      if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
-        break;
-      }
-
-      if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
-        active = true;
-        break;
-      }
-    }
-
-    pclose(fp);
-
-    return active;
-  }
-
-};
-
-}
-int main(int argc, char *argv[]) {
-  if (argc > 1) {
-    if (strcmp(argv[1], "local") == 0) {
-      manifest_url = MANIFEST_URL_EON_LOCAL;
-    } else if (strcmp(argv[1], "staging") == 0) {
-      manifest_url = MANIFEST_URL_EON_STAGING;
-    } else {
-      manifest_url = argv[1];
-    }
-  }
-  printf("updating from %s\n", manifest_url);
-  Updater updater;
-  updater.go();
-
-  return 0;
-}
@@ -1,11 +1,5 @@
 #!/usr/bin/bash

-export OMP_NUM_THREADS=1
-export MKL_NUM_THREADS=1
-export NUMEXPR_NUM_THREADS=1
-export OPENBLAS_NUM_THREADS=1
-export VECLIB_MAXIMUM_THREADS=1
-
 if [ -z "$PASSIVE" ]; then
  export PASSIVE="1"
 fi
@@ -13,16 +7,9 @@ fi
 function launch {
  # apply update
  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-    git reset --hard @{u} &&
-    git clean -xdf &&
-
-    # Touch all files on release2 after checkout to prevent rebuild
-    BRANCH=$(git rev-parse --abbrev-ref HEAD)
-    if [[ "$BRANCH" == "release2" ]]; then
-        touch **
-    fi
-
-    exec "${BASH_SOURCE[0]}"
+     git reset --hard @{u} &&
+     git clean -xdf &&
+     exec "${BASH_SOURCE[0]}"
  fi

  # no cpu rationing for now
@@ -32,8 +19,6 @@ function launch {
  echo 0-3 > /dev/cpuset/foreground/cpus
  echo 0-3 > /dev/cpuset/android/cpus

-  # handle pythonpath
-  ln -s /data/openpilot /data/pythonpath
  export PYTHONPATH="$PWD"

  # start manager
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
 SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR

 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@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" ;

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX

 BO_ 380 POWERTRAIN_DATA: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
@@ -76,15 +76,6 @@ 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
@@ -164,15 +155,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
 SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
 SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -278,6 +268,12 @@ 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
@@ -297,7 +293,7 @@ CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
 CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
 SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR

 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@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" ;

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX

 BO_ 380 POWERTRAIN_DATA: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
@@ -76,15 +76,6 @@ 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
@@ -164,15 +155,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
 SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
 SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -267,6 +257,12 @@ 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
@@ -292,7 +288,6 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
 VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
 VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -189,7 +189,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
@@ -37,9 +37,9 @@ BU_: XXX


 BO_ 258 STEERING: 8 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_ 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_ 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@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_DISPLAY : 58|1@1+ (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_ COUNTER : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ GEAR_INCREMENTING : 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_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@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

 BO_ 320 BRAKE_2: 8 XXX
 SG_ SPEED_RELATED_2 : 47|8@0+ (1,0) [0|63] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_140 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_140 : 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_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
- SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" 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

 BO_ 344 WHEEL_SPEEDS: 8 XXX
 SG_ WHEEL_SPEED_FL : 3|12@0+ (0.0189408,0) [0|65535] "m/s" XXX
@@ -96,38 +96,37 @@ 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_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" 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_ 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 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_ 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_ 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_ 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_ 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_ 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_ 705 AUTO_PARK_BUTTON: 8 XXX
- SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_TOGGLE_2 : 8|1@1+ (1,0) [0|1] "" XXX
 SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ INCREASING_UNKNOWN : 38|7@0+ (1,0) [0|15] "" XXX
+ SG_ INCREASING_UNKNOWN : 32|7@1+ (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
@@ -135,45 +134,45 @@ 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_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ INCREMENTING : 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 : 55|8@0+ (1,0) [0|7] "" XXX
+ SG_ INCREASING_UNKNOWN : 48|8@1+ (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 : 35|4@0+ (1,0) [0|15] "" XXX
- SG_ AUTO_PARK_GEAR_3 : 51|4@0+ (1,0) [0|15] "" 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

 BO_ 332 STEERING_2: 8 XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ INCREMENTING_14C : 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@0+ (1,0) [0|1] "" XXX
+ SG_ BLIND_SPOT_LEFT : 2|1@1+ (1,0) [0|1] "" XXX

 BO_ 331 BRAKE_3: 8 XXX
 SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_14B : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_14B : 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_ 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
+ 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

-BO_ 729 LKAS_HEARTBIT: 5 XXX
+BO_ 729 LKAS_STATUS_1: 5 XXX
 SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX

 BO_ 274 NEW_MSG_112: 2 XXX
@@ -183,13 +182,13 @@ BO_ 290 NEW_MSG_122: 6 XXX
 BO_ 376 NEW_MSG_178: 3 XXX

 BO_ 288 ACCEL_RELATED_120: 7 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_ 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_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX

 BO_ 257 ACCEL_RELATED_101: 5 XXX
- SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ ENERGY_OR_RPM : 24|8@1+ (1,0) [0|255] "" XXX

 BO_ 388 NEW_MSG_184: 4 XXX

@@ -202,21 +201,18 @@ BO_ 560 NEW_MSG_230: 4 XXX
 BO_ 564 NEW_MSG_234: 4 XXX

 BO_ 571 WHEEL_BUTTONS: 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_ CHECKSUM_23B : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_FOLLOW_DEC : 1|1@1+ (1,0) [0|3] "" XXX
 SG_ ACC_SPEED_INC : 2|1@0+ (1,0) [0|255] "" 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_ ACC_SPEED_DEC : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_FOLLOW_INC : 8|1@1+ (1,0) [0|15] "" XXX
 SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ ACC_RESUME : 4|1@0+ (1,0) [0|15] "" XXX

 BO_ 669 NEW_MSG_29d: 3 XXX
- SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_29D : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_29D : 16|8@1+ (1,0) [0|255] "" XXX

-BO_ 825 AUDIBLE_BEEP_339: 2 XXX
- SG_ BEEP_339 : 7|16@0+ (1,0) [0|65535] "" XXX
+BO_ 825 NEW_MSG_339: 2 XXX

 BO_ 856 NEW_MSG_358: 4 XXX

@@ -236,61 +232,60 @@ 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_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_A8 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_A8 : 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_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@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_ 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_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@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_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX

 BO_ 294 ENERGY_RELATED_126: 8 XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM_126 : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ INCREMENTING_126 : 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_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ ACCEL_134 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ INCREMENTING_134 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACCEL_134 : 40|4@1+ (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 : 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
+ 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

 BO_ 655 CHARGING_MAYBE_28F: 8 XXX
- SG_ CHARGING : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHARGING : 0|2@1+ (1,0) [0|3] "" XXX

 BO_ 660 BRAKE_RELATED_294: 8 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
+ 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

 BO_ 764 ACCEL_RELATED_2FC: 8 XXX
- SG_ ACCEL_2FC : 13|6@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_2FC : 8|6@1+ (1,0) [0|255] "" XXX

 BO_ 816 TRACTION_BUTTON: 8 XXX
- SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX
- SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ TRACTION_OFF : 19|1@1+ (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 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_OR_RPM_1 : 0|8@1+ (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
@@ -303,33 +298,33 @@ 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 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING : 40|8@1+ (1,0) [0|255] "" XXX

 BO_ 701 NEW_MSG_2bd: 8 XXX
- SG_ unknown_1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown_1 : 32|8@1+ (1,0) [0|255] "" XXX

 BO_ 832 UNKNOWN_340: 8 XXX
- SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ SPEED_DIGITAL : 56|8@1+ (1,0) [0|255] "mph" XXX

 BO_ 848 UNKNOWN_350: 8 XXX
- SG_ INCREASING_LSB : 5|6@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_LSB : 0|6@1+ (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 : 61|6@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_LSB : 56|6@1+ (1,0) [0|255] "" XXX

 BO_ 938 NEW_MSG_3aa: 8 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
+ SG_ INCREASING_UNKNOWN_1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_UNKNOWN_2 : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 940 NEW_MSG_3ac: 8 XXX
- SG_ INCREASING_1 : 35|4@0+ (1,0) [0|15] "" XXX
- SG_ INCREASING_2 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_1 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 941 NEW_MSG_3ad: 8 XXX
- SG_ INCREASING_1 : 36|5@0+ (1,0) [0|31] "" XXX
- SG_ INCREASING_2 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_1 : 32|5@1+ (1,0) [0|31] "" XXX
+ SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 500 ACC_2: 8 XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -340,29 +335,29 @@ 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 : 31|8@0+ (1,0) [0|255] "km/h" XXX
+ SG_ SPEED : 24|8@1+ (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@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PERHAPS : 48|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

 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 : 39|8@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|8@1+ (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 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ INCREASING : 27|12@0+ (1,0) [0|127] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX


@@ -374,7 +369,7 @@ 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 "5=L, 4=D, 3=N, 2=R, 1=P";
+CM_ SG_ 746 PRNDL "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";
@@ -383,14 +378,13 @@ 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 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_ 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_ 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";
@@ -405,17 +399,14 @@ 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 "not the LKAS checksum";
+CM_ SG_ 288 UNKNOWN_CHECKSUM_120 "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";
@@ -431,5 +422,5 @@ 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 5 "Low" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
+VAL_ 746 PRNDL 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
@@ -44,15 +44,15 @@ BO_ 544 a_1: 8 XXX
 SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
 SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
 SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 576 b_1: 8 XXX
- SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
 SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
 SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 608 a_2: 8 XXX
@@ -63,15 +63,15 @@ BO_ 608 a_2: 8 XXX
 SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
 SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
 SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 640 b_2: 8 XXX
- SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
 SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
 SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 644 a_3: 8 XXX
@@ -82,15 +82,15 @@ BO_ 644 a_3: 8 XXX
 SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
 SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
 SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 648 b_3: 8 XXX
- SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
 SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
 SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 652 a_4: 8 XXX
@@ -101,19 +101,19 @@ BO_ 652 a_4: 8 XXX
 SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
 SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
 SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 656 b_4: 8 XXX
- SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
 SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
 SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 512 unknown_200: 8 XXX
- SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ increasing : 31|16@0+ (1,0) [0|255] "" XXX
 SG_ zeros_0 : 3|12@0+ (1,0) [0|63] "" XXX
@@ -31,8 +31,6 @@ NS_ :
    BU_BO_REL_
    SG_MUL_VAL_

-BS_:
-
 BU_: XXX


@@ -31,8 +31,6 @@ NS_ :
    BU_BO_REL_
    SG_MUL_VAL_

-BS_:
-
 BU_: XXX


@@ -31,8 +31,6 @@ NS_ :
    BU_BO_REL_
    SG_MUL_VAL_

-BS_:
-
 BU_: XXX

 BO_ 1280 Object_00: 8 XXX
@@ -31,8 +31,6 @@ NS_ :
    BU_BO_REL_
    SG_MUL_VAL_

-BS_:
-
 BU_: XXX

 BO_ 130 EPAS_INFO: 8 XXX
@@ -130,10 +128,9 @@ BO_ 984 Lane_Keep_Assist_Ui: 8 XXX
 SG_ Hands_Warning : 49|1@0+ (1,0) [0|1] "" XXX
 SG_ Set_Me_X30 : 63|8@0+ (1,0) [0|255] "" XXX

-CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ;
-
 VAL_ 357 Cruise_State 4 "active" 3 "standby" 0 "off" ;
 VAL_ 970 Lkas_Action 15 "off" 9 "abrupt" 8 "abrupt2" 5 "smooth" 4 "smooth2" ;
 VAL_ 970 Lkas_Alert 15 "no_alert" 3 "high_intensity" 2 "mid_intensity" 1 "low_intensity" ;
 VAL_ 972 LaActAvail_D_Actl 3 "available" 2 "tbd" 1 "not_available" 0 "fault" ;
 VAL_ 984 Lines_Hud 15 "none" 11 "grey_yellow" 8 "green_red" 7 "yellow_grey" 6 "grey_grey" 4 "red_green" 3 "green_green" ;
+CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ;
@@ -64,10 +64,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

 BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

@@ -196,8 +196,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -260,5 +259,3 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
@@ -2,14 +2,14 @@ BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
 SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR

 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@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" ;
@@ -37,9 +37,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX

 BO_ 380 POWERTRAIN_DATA: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
@@ -54,15 +54,6 @@ 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
@@ -142,15 +133,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
 SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
 SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -39,6 +39,12 @@ 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
@@ -58,7 +64,7 @@ CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
 CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -28,6 +28,12 @@ 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
@@ -53,7 +59,6 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
 VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
 VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -1,52 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
- SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
- 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_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -44,15 +44,20 @@ 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
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

-BO_ 493 HUD_SETTING: 5 XXX
- SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
-
 BO_ 487 BRAKE_PRESSURE: 4 VSA
 SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
 SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
@@ -121,10 +126,10 @@ BO_ 1302 ODOMETER: 8 XXX

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
+CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
@@ -1,48 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-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
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 344 DISTANCE_COUNTER "";
-CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
-CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
-CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
-CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
-
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -29,6 +29,12 @@ 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
@@ -58,7 +64,7 @@ BO_ 891 WIPERS: 8 XXX

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

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -39,6 +39,14 @@ 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
@@ -79,7 +87,7 @@ BO_ 884 STALK_STATUS: 8 XXX
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -1,44 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
- SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
- VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
- VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -31,6 +31,15 @@ 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
@@ -91,7 +100,7 @@ CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -101,5 +110,7 @@ VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -39,6 +39,12 @@ 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
@@ -52,7 +58,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -34,6 +34,12 @@ 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
@@ -47,7 +53,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
@@ -9,19 +9,3 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 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_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" 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|4@0+ (1,0) [0|15] "" EON
-  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
-  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
-
- VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
@@ -40,11 +40,6 @@ 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
@@ -60,23 +55,13 @@ 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
 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
@@ -91,7 +76,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_1 : 55|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
@@ -111,19 +96,29 @@ 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_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_X63 : 23|8@0+ (1,0) [0|255] "" HCU
 SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

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

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -155,9 +150,6 @@ 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
@@ -168,95 +160,32 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

-BO_ 1161 RSA1: 8 FCM
- SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
- SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1162 RSA2: 8 FCM
- SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
- SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
- SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
- SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
- SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
- SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
- SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
- SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
- SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
- SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
-
-BO_ 1163 RSA3: 8 FCM
- SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
- SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
- SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
- SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
- SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
- SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
- SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
-
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
-CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
-CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
-CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
-CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
-CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-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_ 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_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
-VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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" 4 "wet road" 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" 129 "no entry";
-VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
@@ -1,38 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_3: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|15] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 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 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
@@ -1,39 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 705 GAS_PEDAL: 8 XXX
- SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_3: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -1,41 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
- SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
- SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 610 EPS_STATUS: 5 EPS
- SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
- SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
- SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 956 GEAR_PACKET: 8 XXX
- SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
-
-BO_ 1009 PCM_CRUISE_ISH: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
-
-BO_ 1599 LIGHT_STALK_ISH: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|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";
-CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
-VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -22,9 +22,7 @@ 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";
@@ -33,5 +31,3 @@ 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";
@@ -16,11 +16,10 @@ BO_ 581 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.05527,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -2,9 +2,9 @@ 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
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX

 BO_ 705 GAS_PEDAL: 8 XXX
 SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
@@ -16,11 +16,11 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
+BO_ 610 EPS_STATUS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
@@ -30,4 +30,4 @@ CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear th
 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_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -20,7 +20,6 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
- SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -23,7 +23,6 @@ BO_ 610 EPS_STATUS: 5 EPS

 BO_ 956 GEAR_PACKET: 8 XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
- SG_ SPORT_ON : 3|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";
@@ -1,33 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-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_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
-CM_ SG_ 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 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
@@ -1,49 +0,0 @@
-CM_ "IMPORT _toyota_2017.dbc"
-CM_ "IMPORT _comma.dbc"
-
-BO_ 401 STEERING_LTA: 8 XXX
- SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
- SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 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
- SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
-
-BO_ 610 EPS_STATUS: 8 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 : 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_ 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";
@@ -22,14 +22,7 @@ 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";
@@ -37,9 +30,4 @@ 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";
@@ -33,33 +33,16 @@ NS_ :

 BS_:

-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
+BU_: K109_FCM B233B_LRR NEO K124_ASCM
 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_ 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" ;
+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" ;


 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
@@ -84,37 +67,8 @@ BO_ 776 ASCMAccSpeedStatus: 7 NEO
 SG_ VehicleSpeed : 15|12@0+ (1,0) [0|0] ""  B233B_LRR
 SG_ AlwaysOne : 3|1@0+ (1,0) [0|0] ""  B233B_LRR

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

 BO_ 1134 LRRObject14: 8 B233B_LRR
 SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
@@ -275,428 +229,6 @@ 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;
@@ -704,11 +236,9 @@ 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;
@@ -720,5 +250,6 @@ 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" ;
+
@@ -35,18 +35,13 @@ BS_:

 BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB
 VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
-VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ;
-VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
 VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
-VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
-VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
 VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
 VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
@@ -66,11 +61,9 @@ 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 : 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
+ 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

 BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
 SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] ""  NEO
@@ -88,13 +81,9 @@ BO_ 298 BCMDoorBeltStatus: 8 K9_BCM

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

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

 BO_ 328 PSCM_148: 1 K43_PSCM

@@ -109,12 +98,11 @@ 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_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" 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_ 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
@@ -130,17 +118,15 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
 SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
- SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX

 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
 SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
 SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO

 BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
- 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
+ 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

 BO_ 560 EPBStatus: 8 EPB
 SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO
@@ -184,7 +170,6 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
 SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
 SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
- SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX

 BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
 SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
@@ -195,7 +180,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 BO_ 1034 ASCM_40A: 7 K124_ASCM

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
@@ -239,10 +224,8 @@ BA_ "UseGMParameterIDs" 0;
 VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
-VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
 VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
-VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
@@ -254,6 +237,4 @@ VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Ina
 VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
 VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
 VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
-VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
-VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
-VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;
+
@@ -1,322 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _bosch_2018.dbc starts here"
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
-
-BO_ 228 STEERING_CONTROL: 5 EON
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 232 BRAKE_HOLD: 7 XXX
- SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
- SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
- SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 495 ACC_CONTROL_ON: 8 XXX
- SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
- SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 545 XXX_16: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
- BO_ 662 SCM_BUTTONS: 4 SCM
-  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
-  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
-  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 STALK_STATUS_2: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-
-CM_ "honda_accord_lx15t_2018_can.dbc starts here"
-
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
- SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
- 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_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

 BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

@@ -200,8 +200,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -265,8 +264,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

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


@@ -86,13 +86,10 @@ 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] "" 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
+ 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

 BO_ 422 SCM_BUTTONS: 8 SCM
 SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

 BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

@@ -200,8 +200,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -265,8 +264,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

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


@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
 SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR

 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@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" ;

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX

 BO_ 380 POWERTRAIN_DATA: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
@@ -76,15 +76,6 @@ 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
@@ -164,15 +155,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
 SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
 SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -283,15 +273,20 @@ 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
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

-BO_ 493 HUD_SETTING: 5 XXX
- SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
-
 BO_ 487 BRAKE_PRESSURE: 4 VSA
 SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
 SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
@@ -360,10 +355,10 @@ BO_ 1302 ODOMETER: 8 XXX

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
-CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
+CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
@@ -409,7 +409,6 @@ BO_TX_BU_ 862 : NEO,ADAS;
 BO_TX_BU_ 927 : NEO,ADAS;


-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
@@ -431,3 +430,4 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

 BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

@@ -200,8 +200,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

@@ -265,8 +264,6 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

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


@@ -1,318 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _bosch_2018.dbc starts here"
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
-
-BO_ 228 STEERING_CONTROL: 5 EON
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 232 BRAKE_HOLD: 7 XXX
- SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
- SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
- SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 495 ACC_CONTROL_ON: 8 XXX
- SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
- SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 545 XXX_16: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
- BO_ 662 SCM_BUTTONS: 4 SCM
-  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
-  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
-  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 STALK_STATUS_2: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-
-CM_ "honda_crv_hybrid_2019_can.dbc starts here"
-
-
-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
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 344 DISTANCE_COUNTER "";
-CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
-CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
-CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
-CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
-
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
 SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR

 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@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" ;

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX

 BO_ 380 POWERTRAIN_DATA: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
@@ -76,15 +76,6 @@ 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
@@ -164,15 +155,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
 SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
 SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -268,6 +258,12 @@ 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
@@ -297,7 +293,7 @@ BO_ 891 WIPERS: 8 XXX

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

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
 SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR

 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
 SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
 SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
- SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@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" ;

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX

 BO_ 380 POWERTRAIN_DATA: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
@@ -76,15 +76,6 @@ 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
@@ -164,15 +155,14 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
 SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
 SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -278,6 +268,14 @@ 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
@@ -318,7 +316,7 @@ BO_ 884 STALK_STATUS: 8 XXX
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";

-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	8f22f52235	openpilot v0.5.1 release (#315 ) Merge commit '2cfdc676101c387524246f789c8429647069b827' into release2	2018-08-27 12:21:14 -07:00
George Hotz	0ea21f3545	Merge pull request #293 from commaai/devel 0.5.0 release	2018-07-13 22:37:09 -07:00
George Hotz	27c7425b94	Merge pull request #277 from commaai/devel openpilot 0.4.7.2	2018-06-28 11:22:35 -07:00
George Hotz	30b72e4be1	Merge pull request #267 from commaai/devel openpilot 0.4.7.1	2018-06-19 09:18:12 -07:00
George Hotz	afdda0e5fc	Merge pull request #256 from commaai/devel 0.4.6 Release	2018-05-30 11:19:03 -07:00
George Hotz	88d1dd2bad	Merge pull request #239 from commaai/devel openpilot 0.4.5.1 release	2018-05-01 18:13:46 -07:00
George Hotz	3e491431a3	Merge pull request #226 from commaai/revert-220-devel Revert "openpilot 0.4.3.1"	2018-03-26 15:18:53 -06:00
George Hotz	f550656ee8	Revert "openpilot 0.4.3.1 (#220 )" This reverts commit `640ab12c72`.	2018-03-26 14:13:40 -07:00
George Hotz	640ab12c72	openpilot 0.4.3.1 (#220 ) * Honda Pilot 2017 Port (#161) * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update interface.py * Update interface.py * Update README.md * Update README.md * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update hondacan.py * Update README.md * Update fingerprints.py * Update carstate.py * Update carstate.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update carstate.py * Update Pilot Fingerprint * Update fingerprints.py * Give pilot its own definition and not use ILX * add pilot argument * Add Pilot interface * Add pilot argument * Update interface.py * Parse Different gear on pilot * Add steer max * Fixed duplication of steer max value * Adjust PID's for steering * Update carcontroller.py * Change Steer Ratio and wheelbase * Update Steer fault values Steer fault value of 3, does not seem to effect anything * Update Kp,Ki Ratio * Update interface.py * Update readme for Pilot * add pilot * Update fingerprints.py * Update carstate.py * add signals * add signal * fix restricting video upload to wifi * Dibs on SAFETY_GM numerical value To match Panda repo. * Safety Reference for Honda Bosch * Update fingerprints.py (#210) Consolidated my fingerprint and removed duplicates and ordered the fingerprint for the RAV4H. Double Checked. * Interpolate ki/kp for steering PID loop (#200) * Interpolate ki/kp for steering PID loop Very much needed for the Volt port: car ping-pongs with low kp on high speeeds, and the loop is unstable with high kp on low speeds. Also, removes "number or array?" logic from PIController, now that all the callers use interpolation ofr ki/kp. * Pass speed to steering PID loop for ki/kp interpolation * Remove unused numbers import * Slight changes to UI and Fingerprint for Odyssey Elite (#196) * Adding back drive time to UI * Add fingerprint for Odyssey Elite * Removed extended fingerprint for Elite * Revert "Adding back drive time to UI" This reverts commit b9b02f7ff2511f28922f0bea47cd8c70bb9f4010. * Squashed 'panda/' changes from 98f29a4..67d5208 67d5208 fix signedness issue in toyota safety fe15d3f bump pandacan 11c2b08 add fault invalid 2c26e45 add sleep 27c7637 forgot the counter 3a6d7db don't hang bfa7d2e canloader works b259e2a can flasher is close to working 83f2edf isotp can support in softloader 7ae7c79 typo e85cc47 forgot the selfs 190b4f6 start work on canflasher 5c655c9 add recover support ae3457f usbflash is reliable f7a0ab0 pedal usbflash works 585d0f9 add way to call isotp be82899 despite it being bad code, move isotp 000715b start work on pedal canloader 626e312 pedal has a bootstub now 3662d1e redundant check 81e6b0d fix bug 083cd12 should have bounty to refactor that ish b65d30c bad asserts b2e6c3f isotp untested support for subaddr 30fd66a Merge pull request #93 from vntarasov/volt 06f5109 Merge pull request #94 from gregjhogan/can-printer-hex c7d098c Merge pull request #95 from gregjhogan/setup-script 22fe250 Merge pull request #99 from gregjhogan/bit-transition-example ba16ba3 Merge pull request #100 from gregjhogan/j2534-troubleshooting-instructions ad08ea4 Merge pull request #90 from gregjhogan/can-forwarding f3b6f5d added j2534 troubleshooting instructions 858d150 added script to find bits that transition from 0 to 1 c6acac8 added checking pedal interceptor message length f7226ff added brake safety checks d0c2634 added gas safety checks d378e4a removed bosch safety forwarding restriction on 29 bit addresses 5c7ef9e added bosch safety hooks and forwarding 90c64b6 add note 23de8d4 Merge pull request #97 from commaai/pedal_improvements 0261641 added missing python packages b92b235 fix bytearray encode issue 2434f1c Tweak Volt's brake pedal stickiness e2f73d2 enable has a whole byte to itself d5a9e1e correct checksum f8ed9fa better names 986a14c don't alias pointers 9b8472e add watchdog support 8f0add9 handle faults 1d917f8 split gas set into 2 values, and have a fault state 1b77026 j2534 isn't alpha anymore fbcc872 Merge pull request #92 from commaai/pedal 8a6f44b pedal is sending messages 08f464c python 3 bro is bad bro 9390961 kline checksum algo was broken... 3b7c33b add kline debug support aa622bc init values 631ea9f better refactor eb1fd75 add PEDAL adc sets ccaa310 don't build with usb 8d4d763 debug console works bd09883 comma pedal is building 75a29d5 Merge pull request #84 from gregjhogan/j2534-hds eece37d only the panda has gmlan 9f43abe Merge pull request #89 from vntarasov/volt 5364d43 Merge pull request #88 from vntarasov/smaller-firmware 377a1ec bump version for descriptor fix 4fabdf0 Merge pull request #87 from gregjhogan/usb-multi-packet-control 8580773 fix sending WinUSB Extended Properties Feature Descriptor 6908feb Chevy Volt safety `786a004` Enable optimization to reduce firmware size d70f43b hack to fix thinkpad 95ab1ae fixed flow control message padding bbd04d1 updated installer 62216d0 single standalone DLL for J2534 driver 5c9138d fixed 11 bit address issue f3b0ad2 fix LOOPBACK getting set when DATA_RATE is set b750d36 updated README a9a097f lowered CPU utilization 7c26a70 TIS needs unsupported protocols to return an error 42692b4 TIS doesn't like ChannelID being zero cf126bb SET_CONFIG return error for reserved parameters 2e99dbf fix HDS issues 8203cc8 add is_grey e946a54 add insecure_okay flag 4363b3e check webpage 4f59ded add secure mode note 6b11fb5 add autosecuring to tests b27d185 Merge pull request #86 from commaai/better_pairing 4b53b42 elm wifi isn't an automated test 99f85cb Merge pull request #85 from gregjhogan/usb-wcid 0d38060 auto-install WinUSB device driver c6653ca from python import 38cc0ee add wifi_secure_mode, boots in insecure mode git-subtree-dir: panda git-subtree-split: 67d52089a1300b86800d897f2b271e0a24cf6dd6 * Squashed 'opendbc/' changes from 81d9871..aa067f7 aa067f7 Chevy Volt tweaks (#83) a60c6c4 Toyota: change signal name in EPS_STATUS msg ce70b1a extra setme field toyota LKAS_HUD df2a552 toyota missing ACC_CONTROL checksum 48bb293 Revert "Toyota Prius: added a comma specific message to control the speed sent to the EPS" 5f42439 Toyota Prius: added a comma specific message to control the speed sent to the EPS 6f5e8b6 Pedal Interceptor: fault state VAL moved to _comma efd5f5c add setme to honda ACC_HUD 97fc335 add interceptor to civic 6f40f16 update generator script to allow for multiple imports 9ca956b add setme to toyota STEERING_IPAS e5afa57 run generator for ipas scaling 8bd1182 Toyota IPAS: proper steer angle unit f57511e acceleration pedal for gasPressed c8d1dbc high beams also. likely dashboard message. 9f1c78b high beams for genericToggle f037d42 turn signal lights (and thus hazard lights) b35bb08 turn signals 78986cf Revert "turn signals" ba946c9 turn signals 2af3ecc Speed, braking, and distance signals f40ab87 Set packet lengths, adding steering rate, adjusted speed cd59bfa units for speed_right c2fcce2 speed of right vs left side of car 4ef5fae value table for gear status 97c48e2 tighten up speed bits. brake pressue max comment. a0cbfd1 add gear status PRNDL 0c82865 initial signals for chrysler pacifica 2017 hybrid 5ed0540 add set me to toyota LKAS_HUD aecac5d add set me fields to toyota ACC_HUD 5417013 update toyota ACC_CONTROL fields e91e967 Comma Pedal: made GAS_COMMAND 6 bytes d04434a Comma Pedal: added state byte and enable bit c30b2cd Comma Pedal: sending 2 tracks on 0x200 8f72467 Volt doors and belts status (#70) 60f8b6c add set me to lkas hud honda 3c9e335 fix honda pcm gas message size 7ca471d Add 2018 Toyota CHR dbc (#78) 637fe00 set scaling to 1 for brake and gas which have no real unit 62a88d4 Volt: switch to parsing ACC buttons from powertrain CAN (#74) 3fdd47b Volt's gas pedal only and combined gas/acc (#76) 45ec9c9 Add 2017 Honda Ridgeline (#77) cbd186a Add 2018 Camry Hybrid DBC's (#73) 974eeaf Toyota: re-generated the files after cfbc9ae363f98ef 19ea195 Toyota: more vals for LKA_STATE cfbc9ae fixed inconsistent factor for speed in Honda dbc files e7db803 convert all line endings to unix style git-subtree-dir: opendbc git-subtree-split: aa067f7079aa12617f7a37d85233e51af44e1bb2 * openpilot v0.4.3 release * Squashed 'panda/' changes from 67d5208..3125232 3125232 bump version 703c0b4 Gas Interceptor: another fix to gas pressed logic 196d383 Interceptor: fixed gas pressed logic git-subtree-dir: panda git-subtree-split: 31252324d98e701c33cb6aeda20af6b549175764 * Squashed 'opendbc/' changes from aa067f7..91e882d 91e882d Updating bosch dbcs to use new format and bringing in new honda changes (#82) 9b32e2e Fix Checksum errors for CH-R (#86) git-subtree-dir: opendbc git-subtree-split: 91e882d4a04c129e12d39bcff0bbe56b75166e0f * openpilot v0.4.3 release * openpilot v0.4.3.1 release * fix bug in canpacker for Toyotas with DSU connected (#221) * update year on civic	2018-03-22 22:11:57 -07:00
George Hotz	affc00df1f	Merge pull request #188 from commaai/devel 0.4.2	2018-02-08 17:09:41 -08:00
ErichMoraga	e343c95720	Update fingerprints.py Taiwanese Prius Prime fingerprint was identical to the regular prime (107 msgs.), but should really have 110. I have the correct one in there now.	2018-02-05 14:11:35 -08:00
George Hotz	89605ed88a	Merge pull request #184 from commaai/devel openpilot v0.4.1 hotfix	2018-02-02 19:46:57 -08:00
George Hotz	10cb834c39	Merge pull request #183 from commaai/devel openpilot v0.4.1	2018-02-02 15:51:53 -08:00
George Hotz	675d9feb0b	Merge pull request #176 from commaai/devel openpilot v0.4.0.2	2018-01-22 09:55:06 -08:00
espes	c2e120c362	Merge pull request #165 from commaai/devel openpilot v0.4.0.1	2018-01-17 01:08:47 -08:00
George Hotz	5ae7119646	Merge pull request #154 from commaai/devel openpilot v0.3.9	2017-12-07 19:22:41 -08:00
espes	5864323c7d	Merge pull request #146 from commaai/devel openpilot v0.3.8.2	2017-11-04 05:32:49 -07:00
espes	577608be57	Merge pull request #137 from commaai/devel openpilot v0.3.7	2017-10-04 03:51:03 -07:00
espes	606c21bca4	Merge pull request #126 from commaai/devel openpilot v0.3.6.1	2017-08-17 08:59:30 +02:00
espes	cd25fac75d	Merge pull request #123 from commaai/devel openpilot v0.3.6	2017-08-11 09:00:23 +02:00
espes	b111277f46	Merge pull request #121 from commaai/devel openpilot v0.3.5 release	2017-07-31 09:02:27 +02:00
espes	0fba33b093	Merge pull request #120 from commaai/devel openpilot 0.3.4	2017-07-29 07:41:31 +02:00