interrupt number different on EON

add latest revision of the model
Fix counter in HKG clu11 message (#1484 )
2026-08-29 04:03:43 +08:00 · 2020-05-12 15:15:27 -07:00 · 2020-05-11 10:14:46 -07:00 · 2020-05-10 20:14:15 -07:00 · 2020-05-09 13:01:35 -07:00 · 2020-05-09 13:01:32 -07:00
408 changed files with 25810 additions and 11273 deletions
@@ -20,7 +20,9 @@ a.out
 .*.un~
 *.tmp
 *.o
+*.o-*
 *.os
+*.os-*
 *.so
 *.a
 *.clb
@@ -54,6 +56,7 @@ xx
 panda_jungle

 .coverage*
+coverage.xml
 htmlcov
 pandaextra

@@ -14,15 +14,15 @@ Most open source development activity is coordinated through our [Discord](https

 ### 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. 
+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.
+All PRs are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.

 ### 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`. 
+Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.

 ## Car Ports (openpilot)

@@ -32,9 +32,19 @@ If you port openpilot to a substantially new car brand, see this more generic [B

 ## Pull Requests

-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
+```
+git clone https://github.com/commaai/openpilot.git --recursive
+```
+Or alternatively, when on the master branch:
 ```
 git submodule init
 git submodule update
 ```
-in order to pull down the submodules, such as `panda` and `opendbc`.
+The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
+Modules that are in seperate repositories include:
+* apks
+* cereal
+* laika
+* opendbc
+* panda
@@ -57,104 +57,125 @@ openpilot should preserve all other vehicle's stock features, including, but are
 Supported Hardware
 ------

-At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. In the future, we'd like to support other platforms as well, like gaming PCs.
+At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).

 Supported Cars
 ------

-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
-| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
-| Lexus     | NX Hybrid 2018                | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
+| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Sedan/Coupe 2019-20     | Honda Sensing     | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Insight 2019                  | Honda Sensing     | Stock            | 0mph               | 3mph              |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
+| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
+| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
+| Lexus     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2016-17                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon 2017-18                | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2017-19                 | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2017-18                  | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2019-20                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Sienna 2018                   | All               | Stock<sup>3</sup>| 0mph               | 0mph              |

-<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
-<sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <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](https://comma.ai).*** <br />
+<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />

 Community Maintained Cars and Features
 ------

 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>1</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Genesis   | G80 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G90 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
+| GMC       | Acadia Denali 2018<sup>3</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Hyundai   | Elantra 2017-19<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Genesis 2015-16<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 37mph        |
+| Hyundai   | Ioniq 2017<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq 2019 EV<sup>2</sup>     | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Kona 2017-19<sup>2</sup>      | SCC + LKAS        | Stock            | 22mph              | 0mph         |
+| Hyundai   | Kona 2019 EV<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Palisade 2020<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2020<sup>2</sup>       | All               | Stock            | 0mph               | 0mph         |
+| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Kia       | Forte 2018<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Optima 2017<sup>2</sup>       | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
+| Kia       | Optima 2019<sup>2</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Stinger 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2019                     | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | X-Trail 2018                  | Propilot          | Stock            | 0mph               | 0mph         |
+| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Impreza 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |

-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
-<sup>5</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](https://comma.ai).*** <br />
-<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>2</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
+<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
+
+Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)

 Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.

+To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
+
 Installation Instructions
 ------

-Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
+Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.

-Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
+Follow these [video instructions](https://youtu.be/3nlkomHathI) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.

 Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.

@@ -172,7 +193,7 @@ Many factors can impact the performance of openpilot ALC and openpilot LDW, caus
 * Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
 * The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
 * Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
+* The device is mounted incorrectly.
 * When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
 * In the presence of restricted lanes or construction zones.
 * When driving on highly banked roads or in presence of strong cross-wind.
@@ -192,7 +213,7 @@ Many factors can impact the performance of openpilot ACC and openpilot FCW, caus
 * Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
 * The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
 * Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
+* The device is mounted incorrectly.
 * Approaching a toll booth, a bridge or a large metal plate.
 * When driving on roads with pedestrians, cyclists, etc...
 * In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
@@ -210,13 +231,13 @@ The list above does not represent an exhaustive list of situations that may inte
 Limitations of openpilot DM
 ------

-openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
+openpilot DM should not be considered an exact measurement of the alertness of the driver.

 Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:

 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver face is partially or completely outside field of view of the driver facing camera.
+* The driver's face is partially or completely outside field of view of the driver facing camera.
 * Right hand driving vehicles.
 * The driver facing camera is obstructed, covered, or damaged.

@@ -238,7 +259,7 @@ Safety and Testing
 ----

 * openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
-* openpilot has software in the loop [tests](run_docker_tests.sh) that run on every commit.
+* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
 * The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
 * panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
 * Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
@@ -265,15 +286,15 @@ Directory Structure
 ------
    .
    ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec and libs used for all logs on EON
+    ├── cereal              # The messaging spec and libs used for all logs
    ├── common              # Library like functionality we've developed here
    ├── installer/updater   # Manages auto-updates of openpilot
    ├── opendbc             # Files showing how to interpret data from cars
    ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # Libraries used on EON
-    ├── pyextra             # Libraries used on EON
+    ├── phonelibs           # Libraries used on NEOS devices
+    ├── pyextra             # Libraries used on NEOS devices
    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts and images for UI
+        ├── assets          # Fonts, images, and sounds for UI
        ├── athena          # Allows communication with the app
        ├── boardd          # Daemon to talk to the board
        ├── camerad         # Driver to capture images from the camera sensors
@@ -287,7 +308,7 @@ Directory Structure
        ├── modeld          # Driving and monitoring model runners
        ├── proclogd        # Logs information from proc
        ├── sensord         # IMU / GPS interface code
-        ├── tests           # Unit tests, system tests and a car simulator
+        ├── test            # Unit tests, system tests and a car simulator
        └── ui              # The UI

 To understand how the services interact, see `cereal/service_list.yaml`.
@@ -306,3 +327,8 @@ 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>
+
+[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
+[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
+[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
@@ -1,3 +1,24 @@
+Version 0.7.5 (2020-05-13)
+========================
+* Right-Hand Drive support for both driving and driver monitoring!
+* New driving model: improved at sharp turns and lead speed estimation
+* New driver monitoring model: overall improvement on comma two
+* Driver camera preview in settings to improve mounting position
+* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+* 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
+* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
 Version 0.7.3 (2020-02-21)
 ========================
 * Support for 2020 Highlander thanks to che220!
@@ -14,39 +14,55 @@ AddOption('--asan',
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
+if arch == "aarch64" and not os.path.isdir("/system"):
+  arch = "larch64"

-if arch == "aarch64":
+webcam = bool(ARGUMENTS.get("use_webcam", 0))
+
+if arch == "aarch64" or arch == "larch64":
  lenv = {
    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
    "PATH": os.environ['PATH'],
-    "ANDROID_DATA": os.environ['ANDROID_DATA'],
-    "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
  }

+  if arch == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
  cpppath = [
    "#phonelibs/opencl/include",
  ]
+
  libpath = [
-    "#phonelibs/snpe/aarch64-android-clang3.8",
    "/usr/lib",
    "/data/data/com.termux/files/usr/lib",
    "/system/vendor/lib64",
    "/system/comma/usr/lib",
    "#phonelibs/nanovg",
-    "#phonelibs/libyuv/lib",
  ]

-  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+  if arch == "larch64":
+    cpppath += ["#phonelibs/capnp-cpp/include"]
+    libpath += ["#phonelibs/snpe/larch64"]
+    libpath += ["#phonelibs/libyuv/larch64/lib"]
+    libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath = ["/usr/local/lib"]
+  else:
+    libpath += ["#phonelibs/snpe/aarch64"]
+    libpath += ["#phonelibs/libyuv/lib"]
+    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    rpath = ["/system/vendor/lib64"]

-  rpath = ["/system/vendor/lib64"]
 else:
  lenv = {
    "PATH": "#external/bin:" + os.environ['PATH'],
  }
  cpppath = [
    "#phonelibs/capnp-cpp/include",
-    "#phonelibs/capnp-c/include",
    "#phonelibs/zmq/x64/include",
    "#external/tensorflow/include",
  ]
@@ -54,7 +70,6 @@ else:
  if arch == "Darwin":
    libpath = [
      "#phonelibs/capnp-cpp/mac/lib",
-      "#phonelibs/capnp-c/mac/lib",
      "#phonelibs/libyuv/mac/lib",
      "#cereal",
      "#selfdrive/common",
@@ -64,7 +79,6 @@ else:
  else:
    libpath = [
      "#phonelibs/capnp-cpp/x64/lib",
-      "#phonelibs/capnp-c/x64/lib",
      "#phonelibs/snpe/x86_64-linux-clang",
      "#phonelibs/zmq/x64/lib",
      "#phonelibs/libyuv/x64/lib",
@@ -113,11 +127,10 @@ env = Environment(
    "#phonelibs/bzip2",
    "#phonelibs/libyuv/include",
    "#phonelibs/openmax/include",
-    "#phonelibs/json/src",
    "#phonelibs/json11",
    "#phonelibs/eigen",
    "#phonelibs/curl/include",
-    "#phonelibs/opencv/include",
+    #"#phonelibs/opencv/include", # use opencv4 instead
    "#phonelibs/libgralloc/include",
    "#phonelibs/android_frameworks_native/include",
    "#phonelibs/android_hardware_libhardware/include",
@@ -175,10 +188,12 @@ def abspath(x):
    # rpath works elsewhere
    return x[0].path.rsplit("/", 1)[1][:-3]

-#zmq = 'zmq'
 # still needed for apks
-zmq = FindFile("libzmq.a", libpath)
-Export('env', 'arch', 'zmq', 'SHARED')
+if arch == 'larch64':
+  zmq = 'zmq'
+else:
+  zmq = FindFile("libzmq.a", libpath)
+Export('env', 'arch', 'zmq', 'SHARED', 'webcam')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -196,7 +211,7 @@ Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
 if SHARED:
  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
 else:
-  common = [_common, 'json']
+  common = [_common, 'json11']
  visionipc = _visionipc
  gpucommon = [_gpucommon] + _gpu_libs

@@ -215,6 +230,7 @@ if arch != "Darwin":
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])

 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
@@ -229,5 +245,4 @@ if arch == "aarch64":

 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/locationd/kalman/SConscript'])
-
-# TODO: finish cereal, dbcbuilder, MPC
+SConscript(['tools/lib/index_log/SConscript'])
@@ -35,8 +35,7 @@ while 1:

 # in publisher
 pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message()
-dat.init('sensorEvents', 1)
+dat = messaging.new_message('sensorEvents', size=1)
 dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
 pm.send('sensorEvents', dat)
 ```
@@ -5,10 +5,6 @@ messaging_dir = Dir('messaging')

 # TODO: remove src-prefix and cereal from command string. can we set working directory?
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(
-  ['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
 env.Command(
  ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
  ['car.capnp', 'log.capnp'],
@@ -22,14 +18,12 @@ if shutil.which('capnpc-java'):

 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([
-    'gen/c/car.capnp.c',
-    'gen/c/log.capnp.c',
    'gen/cpp/car.capnp.c++',
    'gen/cpp/log.capnp.c++',
  ])

 env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
+env.SharedLibrary('cereal_shared', cereal_objects)

 cereal_dir = Dir('.')
 services_h = env.Command(
@@ -91,6 +91,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    carUnrecognized @66;
    radarCommIssue @67;
    driverMonitorLowAcc @68;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    gasPressed @73;
+    stockFcw @74;
  }
 }

@@ -119,14 +125,17 @@ struct CarState {
  brakeLights @19 :Bool;

  # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringRate @15 :Float32;   # deg/s
-  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringAngle @7 :Float32;       # deg
+  steeringRate @15 :Float32;       # deg/s
+  steeringTorque @8 :Float32;      # TODO: standardize units
  steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
+  steerWarning @35 :Bool;          # temporary steer unavailble
+  steerError @36 :Bool;            # permanent steer error
  stockAeb @30 :Bool;
  stockFcw @31 :Bool;
+  espDisabled @32 :Bool;

  # cruise state
  cruiseState @10 :CruiseState;
@@ -151,6 +160,10 @@ struct CarState {
  # which packets this state came from
  canMonoTimes @12: List(UInt64);

+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
+
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
@@ -304,6 +317,7 @@ struct CarControl {
      chimeWarning2 @5;
      chimeWarningRepeat @6;
      chimePrompt @7;
+      chimeWarning2Repeat @8;
    }
  }
 }
@@ -374,6 +388,7 @@ struct CarParams {
  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
  communityFeature @46: Bool;  # true if a community maintained feature is detected
  fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network

  struct LateralParams {
    torqueBP @0 :List(Int32);
@@ -441,6 +456,7 @@ struct CarParams {
    noOutput @19;  # like silent but without silent CAN TXs
    hondaBoschHarness @20;
    volkswagenPq @21;
+    subaruLegacy @22;  # pre-Global platform
  }

  enum SteerControlType {
@@ -450,8 +466,9 @@ struct CarParams {

  enum TransmissionType {
    unknown @0;
-    automatic @1;
-    manual @2;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
  }

  struct CarFw {
@@ -468,10 +485,21 @@ struct CarParams {
    fwdCamera @3;
    engine @4;
    unknown @5;
+    transmission @8; # Transmission Control Module
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster

    # Toyota only
    dsu @6;
    apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+    electricBrakeBooster @15;
+    shiftByWire @16;
  }

  enum FingerprintSource {
@@ -479,4 +507,9 @@ struct CarParams {
    fw @1;
    fixed @2;
  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
 }
@@ -127,6 +127,9 @@ struct FrameData {
  lensTruePos @14 :Float32;
  image @6 :Data;
  gainFrac @15 :Float32;
+  focusVal @16 :List(Int16);
+  focusConf @17 :List(UInt8);
+  sharpnessScore @18 :List(UInt16);

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
@@ -281,6 +284,7 @@ struct ThermalData {
  usbOnline @12 :Bool;
  networkType @22 :NetworkType;
  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
+  networkStrength @24 :NetworkStrength;

  fanSpeed @10 :UInt16;
  started @11 :Bool;
@@ -308,6 +312,14 @@ struct ThermalData {
    cell4G @4;
    cell5G @5;
  }
+
+  enum NetworkStrength {
+    unknown @0;
+    poor @1;
+    moderate @2;
+    good @3;
+    great @4;
+  }
 }

 struct HealthData {
@@ -341,6 +353,25 @@ struct HealthData {

  enum FaultType {
    relayMalfunction @0;
+    unusedInterruptHandled @1;
+    interruptRateCan1 @2;
+    interruptRateCan2 @3;
+    interruptRateCan3 @4;
+    interruptRateTach @5;
+    interruptRateGmlan @6;
+    interruptRateInterrupts @7;
+    interruptRateSpiDma @8;
+    interruptRateSpiCs @9;
+    interruptRateUart1 @10;
+    interruptRateUart2 @11;
+    interruptRateUart3 @12;
+    interruptRateUart5 @13;
+    interruptRateUartDma @14;
+    interruptRateUsb @15;
+    interruptRateTim1 @16;
+    interruptRateTim3 @17;
+    registerDivergent @18;
+    # Update max fault type in boardd when adding faults
  }

  enum HwType {
@@ -626,9 +657,11 @@ struct ModelData {
    brakeDisengageProb @2 :Float32;
    gasDisengageProb @3 :Float32;
    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
  }

  struct LongitudinalData {
+    distances @2 :List(Float32);
    speeds @0 :List(Float32);
    accelerations @1 :List(Float32);
  }
@@ -790,6 +823,52 @@ struct PathPlan {
  }
 }

+struct LiveLocationKalman {
+
+  # More info on reference frames:
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+
+  positionECEF @0 : Measurement;
+  positionGeodetic @1 : Measurement;
+  velocityECEF @2 : Measurement;
+  velocityNED @3 : Measurement;
+  velocityDevice @4 : Measurement;
+  accelerationDevice @5: Measurement;
+
+
+  # These angles are all eulers and roll, pitch, yaw
+  # orientationECEF transforms to rot matrix: ecef_from_device
+  orientationECEF @6 : Measurement;
+  orientationNED @7 : Measurement;
+  angularVelocityDevice @8 : Measurement;
+
+  # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
+  orientationNEDCalibrated @9 : Measurement;
+
+  # Calibrated frame is simply device frame
+  # aligned with the vehicle
+  velocityCalibrated @10 : Measurement;
+  accelerationCalibrated @11 : Measurement;
+  angularVelocityCalibrated @12 : Measurement;
+
+  gpsWeek @13 :Int32;
+  gpsTimeOfWeek @14 :Float64;
+  status @15 :Status;
+  unixTimestampMillis @16 :Int64;
+
+  enum Status {
+    uninitialized @0;
+    uncalibrated @1;
+    valid @2;
+  }
+
+  struct Measurement {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
+}
+
 struct LiveLocationData {
  status @0 :UInt8;

@@ -1716,12 +1795,14 @@ struct UiLayoutState {
  activeApp @0 :App;
  sidebarCollapsed @1 :Bool;
  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;

  enum App {
    home @0;
    music @1;
    nav @2;
    settings @3;
+    none @4;
  }
 }

@@ -1820,6 +1901,7 @@ struct DMonitoringState {
  awarenessPassive @12 :Float32;
  isLowStd @13 :Bool;
  hiStdCount @14 :UInt32;
+  isPreview @15 :Bool;
 }

 struct Boot {
@@ -1877,6 +1959,16 @@ struct KalmanOdometry {
  rotStd @3 :List(Float32); # std rad/s in device frame
 }

+struct Sentinel {
+  enum SentinelType {
+    endOfSegment @0;
+    endOfRoute @1;
+    startOfSegment @2;
+    startOfRoute @3;
+  }
+  type @0 :SentinelType;
+}
+
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
@@ -1902,7 +1994,7 @@ struct Event {
    sendcan @17 :List(CanData);
    logMessage @18 :Text;
    liveCalibration @19 :LiveCalibrationData;
-    androidLogEntry @20 :AndroidLogEntry;
+    androidLog @20 :AndroidLogEntry;
    gpsLocation @21 :GpsLocationData;
    carState @22 :Car.CarState;
    carControl @23 :Car.CarControl;
@@ -1933,7 +2025,7 @@ struct Event {
    gpsLocationExternal @48 :GpsLocationData;
    location @49 :LiveLocationData;
    uiNavigationEvent @50 :UiNavigationEvent;
-    liveLocationKalman @51 :LiveLocationData;
+    liveLocationKalmanDEPRECATED @51 :LiveLocationData;
    testJoystick @52 :Joystick;
    orbOdometry @53 :OrbOdometry;
    orbFeatures @54 :OrbFeatures;
@@ -1953,5 +2045,7 @@ struct Event {
    carParams @69: Car.CarParams;
    frontFrame @70: FrameData;
    dMonitoringState @71: DMonitoringState;
+    liveLocationKalman @72 :LiveLocationKalman;
+    sentinel @73 :Sentinel;
  }
 }
@@ -19,10 +19,15 @@ except ImportError:

 context = Context()

-def new_message():
+def new_message(service=None, size=None):
  dat = log.Event.new_message()
  dat.logMonoTime = int(sec_since_boot() * 1e9)
  dat.valid = True
+  if service is not None:
+    if size is None:
+      dat.init(service)
+    else:
+      dat.init(service, size)
  return dat

 def pub_sock(endpoint):
@@ -148,12 +153,11 @@ class SubMaster():
        self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
      self.freq[s] = service_list[s].frequency

-      data = new_message()
      try:
-        data.init(s)
+        data = new_message(s)
      except capnp.lib.capnp.KjException:
        # lists
-        data.init(s, 0)
+        data = new_message(s, 0)

      self.data[s] = getattr(data, s)
      self.logMonoTime[s] = 0
@@ -34,7 +34,8 @@ extra_compile_args = ["-std=c++11"]
 libraries = ['zmq']
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg

-if ARCH == "aarch64":
+if ARCH == "aarch64" and os.path.isdir("/system"):
+  # android
  extra_compile_args += ["-Wno-deprecated-register"]
  libraries += ['gnustl_shared']

@@ -19,7 +19,7 @@ controlsState: [8007, true, 100., 100]
 model: [8009, true, 20., 5]
 features: [8010, true, 0.]
 health: [8011, true, 2., 1]
-radarState: [8012, true, 20.]
+radarState: [8012, true, 20., 5]
 #liveUI: [8014, true, 0.]
 encodeIdx: [8015, true, 20.]
 liveTracks: [8016, true, 20.]
@@ -57,7 +57,7 @@ orbslamCorrection: [8050, true, 0.]
 liveLocationCorrected: [8051, true, 0.]
 orbObservation: [8052, true, 0.]
 applanixLocation: [8053, true, 0.]
-liveLocationKalman: [8054, true, 0.]
+liveLocationKalman: [8054, true, 0., 1]
 uiNavigationEvent: [8055, true, 0.]
 orbOdometry: [8057, true, 0.]
 orbFeatures: [8058, false, 0.]
@@ -76,6 +76,7 @@ carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
 dMonitoringState: [8073, true, 5., 1]
+offroadLayout: [8074, false, 0.]

 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
@@ -103,19 +104,31 @@ testJoystick: [8056, false, 0.]
 # gpsd -- publishes EON's gps
 #   publishes: gpsNMEA

-# visiond -- talks to the cameras, runs the model, saves the videos
-#   publishes:  frame, model, driverMonitoring, cameraOdometry, thumbnail
+# camerad -- publishes camera frames
+#   publishes: frame, frontFrame, thumbnail
+#   subscribes: driverState
+
+# dmonitoringmodeld -- runs face detection on camera frames
+#   publishes: driverState

 # **** stateful data transformers ****

+# modeld -- runs & publishes the model 
+#   publishes: model, cameraOdometry
+#   subscribes: liveCalibration, pathPlan
+
 # plannerd -- decides where to drive the car
 #   subscribes: carState, model, radarState, controlsState, liveParameters
 #   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc

 # controlsd -- drives the car by sending CAN messages to panda
-#   subscribes: can, thermal, health, plan, pathPlan, driverMonitoring, liveCalibration
+#   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
 #   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams

+# dmonitoringd -- processes driver monitoring data and publishes driver awareness
+#   subscribes: driverState, liveCalibration, carState, model, gpsLocation
+#   publishes: dMonitoringState
+
 # radard -- processes the radar and vision data
 #   subscribes: can, controlsState, model, liveParameters
 #   publishes:  radarState, liveTracks
@@ -0,0 +1,7 @@
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
@@ -8,6 +8,7 @@ import random
 from cereal import log

 NetworkType = log.ThermalData.NetworkType
+NetworkStrength = log.ThermalData.NetworkStrength

 ANDROID = os.path.isfile('/EON')

@@ -128,3 +129,153 @@ def get_network_type():
      19: NetworkType.cell4G
    }
    return cell_networks.get(cell_check, NetworkType.none)
+
+def get_network_strength(network_type):
+  network_strength = NetworkStrength.unknown
+  # from SignalStrength.java
+  def get_lte_level(rsrp, rssnr):
+    INT_MAX = 2147483647
+    if rsrp == INT_MAX:
+      lvl_rsrp = NetworkStrength.unknown
+    elif rsrp >= -95:
+      lvl_rsrp = NetworkStrength.great
+    elif rsrp >= -105:
+      lvl_rsrp = NetworkStrength.good
+    elif rsrp >= -115:
+      lvl_rsrp = NetworkStrength.moderate
+    else:
+      lvl_rsrp = NetworkStrength.poor
+    if rssnr == INT_MAX:
+      lvl_rssnr = NetworkStrength.unknown
+    elif rssnr >= 45:
+      lvl_rssnr = NetworkStrength.great
+    elif rssnr >= 10:
+      lvl_rssnr = NetworkStrength.good
+    elif rssnr >= -30:
+      lvl_rssnr = NetworkStrength.moderate
+    else:
+      lvl_rssnr = NetworkStrength.poor
+    return max(lvl_rsrp, lvl_rssnr)
+
+  def get_tdscdma_level(tdscmadbm):
+    lvl = NetworkStrength.unknown
+    if tdscmadbm > -25:
+      lvl = NetworkStrength.unknown
+    elif tdscmadbm >= -49:
+      lvl = NetworkStrength.great
+    elif tdscmadbm >= -73:
+      lvl = NetworkStrength.good
+    elif tdscmadbm >= -97:
+      lvl = NetworkStrength.moderate
+    elif tdscmadbm >= -110:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_gsm_level(asu):
+    if asu <= 2 or asu == 99:
+      lvl = NetworkStrength.unknown
+    elif asu >= 12:
+      lvl = NetworkStrength.great
+    elif asu >= 8:
+      lvl = NetworkStrength.good
+    elif asu >= 5:
+      lvl = NetworkStrength.moderate
+    else:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_evdo_level(evdodbm, evdosnr):
+    lvl_evdodbm = NetworkStrength.unknown
+    lvl_evdosnr = NetworkStrength.unknown
+    if evdodbm >= -65:
+      lvl_evdodbm = NetworkStrength.great
+    elif evdodbm >= -75:
+      lvl_evdodbm = NetworkStrength.good
+    elif evdodbm >= -90:
+      lvl_evdodbm = NetworkStrength.moderate
+    elif evdodbm >= -105:
+      lvl_evdodbm = NetworkStrength.poor
+    if evdosnr >= 7:
+      lvl_evdosnr = NetworkStrength.great
+    elif evdosnr >= 5:
+      lvl_evdosnr = NetworkStrength.good
+    elif evdosnr >= 3:
+      lvl_evdosnr = NetworkStrength.moderate
+    elif evdosnr >= 1:
+      lvl_evdosnr = NetworkStrength.poor
+    return max(lvl_evdodbm, lvl_evdosnr)
+
+  def get_cdma_level(cdmadbm, cdmaecio):
+    lvl_cdmadbm = NetworkStrength.unknown
+    lvl_cdmaecio = NetworkStrength.unknown
+    if cdmadbm >= -75:
+      lvl_cdmadbm = NetworkStrength.great
+    elif cdmadbm >= -85:
+      lvl_cdmadbm = NetworkStrength.good
+    elif cdmadbm >= -95:
+      lvl_cdmadbm = NetworkStrength.moderate
+    elif cdmadbm >= -100:
+      lvl_cdmadbm = NetworkStrength.poor
+    if cdmaecio >= -90:
+      lvl_cdmaecio = NetworkStrength.great
+    elif cdmaecio >= -110:
+      lvl_cdmaecio = NetworkStrength.good
+    elif cdmaecio >= -130:
+      lvl_cdmaecio = NetworkStrength.moderate
+    elif cdmaecio >= -150:
+      lvl_cdmaecio = NetworkStrength.poor
+    return max(lvl_cdmadbm, lvl_cdmaecio)
+
+  if network_type == NetworkType.none:
+    return network_strength
+  if network_type == NetworkType.wifi:
+    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
+    network_strength = NetworkStrength.unknown
+    for line in out.split('\n'):
+      signal_str = "SignalStrength: "
+      if signal_str in line:
+        lvl_idx_start = line.find(signal_str) + len(signal_str)
+        lvl_idx_end = line.find(']', lvl_idx_start)
+        lvl = int(line[lvl_idx_start : lvl_idx_end])
+        if lvl >= -50:
+          network_strength = NetworkStrength.great
+        elif lvl >= -60:
+          network_strength = NetworkStrength.good
+        elif lvl >= -70:
+          network_strength = NetworkStrength.moderate
+        else:
+          network_strength = NetworkStrength.poor
+    return network_strength
+  else:
+    # check cell strength
+    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
+    for line in out.split('\n'):
+      if "mSignalStrength" in line:
+        arr = line.split(' ')
+        ns = 0
+        if ("gsm" in arr[14]):
+          rsrp = int(arr[9])
+          rssnr = int(arr[11])
+          ns = get_lte_level(rsrp, rssnr)
+          if ns == NetworkStrength.unknown:
+            tdscmadbm = int(arr[13])
+            ns = get_tdscdma_level(tdscmadbm)
+            if ns == NetworkStrength.unknown:
+              asu = int(arr[1])
+              ns = get_gsm_level(asu)
+        else:
+          cdmadbm = int(arr[3])
+          cdmaecio = int(arr[4])
+          evdodbm = int(arr[5])
+          evdosnr = int(arr[7])
+          lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
+          lvl_edmo = get_evdo_level(evdodbm, evdosnr)
+          if lvl_edmo == NetworkStrength.unknown:
+            ns = lvl_cdma
+          elif lvl_cdma == NetworkStrength.unknown:
+            ns = lvl_edmo
+          else:
+            ns = min(lvl_cdma, lvl_edmo)
+        network_strength = max(network_strength, ns)
+
+    return network_strength
@@ -6,7 +6,7 @@ import shutil
 from common.basedir import BASEDIR
 from selfdrive.swaglog import cloudlog

-android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
+android_packages = ("ai.comma.plus.offroad",)

 def get_installed_apks():
  dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
@@ -26,9 +26,9 @@ def install_apk(path):
  os.remove(install_path)
  return ret == 0

-def start_frame():
+def start_offroad():
  set_package_permissions()
-  system("am start -n ai.comma.plus.frame/.MainActivity")
+  system("am start -n ai.comma.plus.offroad/.MainActivity")

 def set_package_permissions():
  pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
@@ -95,4 +95,3 @@ def pm_apply_packages(cmd):

 if __name__ == "__main__":
  update_apks()
-
@@ -6,5 +6,4 @@ class FirstOrderFilter():

  def update(self, x):
    self.x = (1. - self.k) * self.x + self.k * x
-
-
+    return self.x
@@ -0,0 +1,50 @@
+def cputime_total(ct):
+  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
+
+
+def print_cpu_usage(first_proc, last_proc):
+  r = 0
+  procs = [
+      ("selfdrive.controls.controlsd", 59.46),
+      ("./_modeld", 48.94),
+      ("./loggerd", 28.49),
+      ("selfdrive.controls.plannerd", 19.77),
+      ("selfdrive.controls.radard", 9.54),
+      ("./_ui", 9.54),
+      ("./camerad", 7.07),
+      ("selfdrive.locationd.locationd", 7.13),
+      ("./_sensord", 6.17),
+      ("selfdrive.controls.dmonitoringd", 5.48),
+      ("./boardd", 3.63),
+      ("./_dmonitoringmodeld", 2.67),
+      ("selfdrive.logmessaged", 2.71),
+      ("selfdrive.thermald", 2.41),
+      ("./paramsd", 2.18),
+      ("selfdrive.locationd.calibrationd", 1.76),
+      ("./proclogd", 1.54),
+      ("./_gpsd", 0.09),
+      ("./clocksd", 0.02),
+      ("./ubloxd", 0.02),
+      ("selfdrive.tombstoned", 0),
+      ("./logcatd", 0),
+      ("selfdrive.updated", 0),
+  ]
+
+  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
+  print("------------------------------------------------")
+  for proc_name, normal_cpu_usage in procs:
+    try:
+      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
+      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
+      cpu_time = cputime_total(last) - cputime_total(first)
+      cpu_usage = cpu_time / dt * 100.
+      if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
+        print(f"Warning {proc_name} using more CPU than normal")
+        r = 1
+
+      print(f"{proc_name.ljust(35)}  {cpu_usage:.2f}%")
+    except IndexError:
+      print(f"{proc_name.ljust(35)}  NO METRICS FOUND")
+  print("------------------------------------------------")
+
+  return r
@@ -22,6 +22,8 @@ file in place without messing with <params_dir>/d.
 """
 import time
 import os
+import string
+import binascii
 import errno
 import sys
 import shutil
@@ -50,7 +52,7 @@ class UnknownKeyName(Exception):


 keys = {
-  "AccessToken": [TxType.PERSISTENT],
+  "AccessToken": [TxType.CLEAR_ON_MANAGER_START],
  "AthenadPid": [TxType.PERSISTENT],
  "CalibrationParams": [TxType.PERSISTENT],
  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
@@ -59,6 +61,7 @@ keys = {
  "CommunityFeaturesToggle": [TxType.PERSISTENT],
  "CompletedTrainingVersion": [TxType.PERSISTENT],
  "ControlsParams": [TxType.PERSISTENT],
+  "DisablePowerDown": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
  "DongleId": [TxType.PERSISTENT],
  "GitBranch": [TxType.PERSISTENT],
@@ -67,6 +70,7 @@ keys = {
  "GithubSshKeys": [TxType.PERSISTENT],
  "HasAcceptedTerms": [TxType.PERSISTENT],
  "HasCompletedSetup": [TxType.PERSISTENT],
+  "IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
  "IsLdwEnabled": [TxType.PERSISTENT],
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
@@ -75,6 +79,7 @@ keys = {
  "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
  "IsUploadRawEnabled": [TxType.PERSISTENT],
+  "LastAthenaPingTime": [TxType.PERSISTENT],
  "LastUpdateTime": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
  "LimitSetSpeedNeural": [TxType.PERSISTENT],
@@ -407,10 +412,10 @@ if __name__ == "__main__":
      pp = params.get(k)
      if pp is None:
        print("%s is None" % k)
-      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
+      elif all(chr(c) in string.printable for c in pp):
        print("%s = %s" % (k, pp))
      else:
-        print("%s = %s" % (k, pp.encode("hex")))
+        print("%s = %s" % (k, binascii.hexlify(pp)))

  # Test multiprocess:
  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
@@ -39,8 +39,8 @@ class Profiler():
    print("******* Profiling *******")
    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
      if n in self.cp_ignored:
-        print("%30s: %7.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
      else:
-        print("%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))

@@ -50,6 +50,9 @@ class FakeSpinner():
  def update(self, _):
    pass

+  def close(self):
+    pass
+
  def __exit__(self, type, value, traceback):
    pass

@@ -53,7 +53,7 @@ class RunningStat():

 class RunningStatFilter():
  def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
-    self.raw_stat = RunningStat(raw_priors, max_trackable)
+    self.raw_stat = RunningStat(raw_priors, -1)
    self.filtered_stat = RunningStat(filtered_priors, max_trackable)

  def reset(self):
@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from common.basedir import BASEDIR
+
+
+class TextWindow():
+  def __init__(self, s):
+    try:
+      self.text_proc = subprocess.Popen(["./text", s],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
+
+  def get_status(self):
+    if self.text_proc is not None:
+      self.text_proc.poll()
+      return self.text_proc.returncode
+
+    return None
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self.text_proc is not None:
+      self.text_proc.terminate()
+      self.text_proc = None
+
+  def wait_for_exit(self):
+    while True:
+      if self.get_status() == 1:
+        return
+      time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+
+class FakeTextWindow():
+  def __init__(self, s):
+    pass
+
+  def get_status(self):
+    return 1
+
+  def wait_for_exit(self):
+    return
+
+  def __enter__(self):
+    return self
+
+  def update(self, _):
+    pass
+
+  def __exit__(self, type, value, traceback):
+    pass
+
+
+if __name__ == "__main__":
+  text = """Traceback (most recent call last):
+  File "./controlsd.py", line 608, in <module>
+    main()
+  File "./controlsd.py", line 604, in main
+    controlsd_thread(sm, pm, logcan)
+  File "./controlsd.py", line 455, in controlsd_thread
+    1/0
+ZeroDivisionError: division by zero"""
+  print(text)
+
+  with TextWindow(text) as s:
+    for _ in range(100):
+      if s.get_status() == 1:
+        print("Got exit button")
+        break
+      time.sleep(0.1)
+  print("gone")
@@ -1,6 +1,5 @@
 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]
@@ -147,81 +146,3 @@ def pretransform_from_calib(calib):
  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
  return np.linalg.inv(camera_frame_from_calib_frame)

-
-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,
-                 output_size=None,
-                 pretransform=None,
-                 top_hacks=False,
-                 yuv=False,
-                 alpha=1.0,
-                 beta=0,
-                 blur=0):
-  import cv2  # pylint: disable=import-error
-  cv2.setNumThreads(1)
-
-  if yuv:
-    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
-
-  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)
-    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)
-
-  # brightness and contrast augment
-  augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
-
-  # gaussian blur
-  if blur > 0:
-    augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
-
-  if yuv:
-    augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
-  else:
-    augmented_img = augmented_rgb
-  return augmented_img
-
-
-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  # pylint: disable=import-error
-  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)
@@ -44,24 +44,15 @@ medmodel_intrinsics = np.array(

 # BIG model

-BIGMODEL_INPUT_SIZE = (864, 288)
+BIGMODEL_INPUT_SIZE = (1024, 512)
 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. ,  eon_focal_length / bigmodel_zoom,  256+MEDMODEL_CY],
   [   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))

@@ -72,6 +63,7 @@ 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))
+medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))

 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
@@ -0,0 +1,45 @@
+import os
+from cffi import FFI
+
+# Workaround for the EON/termux build of Python having os.*xattr removed.
+ffi = FFI()
+ffi.cdef("""
+int setxattr(const char *path, const char *name, const void *value, size_t size, int flags);
+ssize_t getxattr(const char *path, const char *name, void *value, size_t size);
+ssize_t listxattr(const char *path, char *list, size_t size);
+int removexattr(const char *path, const char *name);
+""")
+libc = ffi.dlopen(None)
+
+def setxattr(path, name, value, flags=0):
+  path = path.encode()
+  name = name.encode()
+  if libc.setxattr(path, name, value, len(value), flags) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})")
+
+def getxattr(path, name, size=128):
+  path = path.encode()
+  name = name.encode()
+  value = ffi.new(f"char[{size}]")
+  l = libc.getxattr(path, name, value, size)
+  if l == -1:
+    # errno 61 means attribute hasn't been set
+    if ffi.errno == 61:
+      return None
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
+  return ffi.buffer(value)[:l]
+
+def listxattr(path, size=128):
+  path = path.encode()
+  attrs = ffi.new(f"char[{size}]")
+  l = libc.listxattr(path, attrs, size)
+  if l == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})")
+  # attrs is b'\0' delimited values (so chop off trailing empty item)
+  return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]]
+
+def removexattr(path, name):
+  path = path.encode()
+  name = name.encode()
+  if libc.removexattr(path, name) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})")
@@ -62,6 +62,12 @@ function launch {
  echo 0-3 > /dev/cpuset/foreground/cpus
  echo 0-3 > /dev/cpuset/android/cpus

+  # change interrupt affinity
+  echo 3 > /proc/irq/6/smp_affinity_list # MDSS
+  echo 1 > /proc/irq/78/smp_affinity_list # Modem, can potentially lock up
+  echo 2 > /proc/irq/733/smp_affinity_list # USB
+  echo 2 > /proc/irq/736/smp_affinity_list # USB
+
  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

  # Remove old NEOS update file
@@ -0,0 +1,14 @@
+path_classifiers:
+  library:
+    - external
+    - phonelibs
+    - pyextra
+    - tools/lib/mkvparse
+extraction:
+  cpp:
+    after_prepare:
+      - "pip3 install jinja2 pyyaml cython pycapnp numpy sympy tqdm cffi logentries zmq"
+      - "export PATH=$PWD/external/bin:$PATH"
+    index:
+      build_command: "python3 $(which scons)"
+
@@ -0,0 +1,291 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX EON Vector__XXX
+
+
+BO_ 170 AccPedal: 8 XXX
+ SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX
+ SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
+ SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
+ SG_ Counter1 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ EngineSpeed : 32|16@1- (1,0) [0|65535] "" XXX
+ SG_ uknown : 7|8@0- (1,0) [0|65535] "" XXX
+
+BO_ 404 CruiseControl: 4 XXX
+ SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ Counter1 : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ Counter2 : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ notCancel_0xF : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 512 CruiseControlStatus: 8 XXX
+ SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX
+
+BO_ 168 EngineAndBrake: 8 XXX
+ SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX
+ SG_ EngineTorque : 8|16@1- (1,0) [0|65535] "" XXX
+ SG_ EngineTorqueWoInterv : 24|16@1- (1,0) [0|65535] "" XXX
+
+BO_ 470 SteeringButtons: 2 XXX
+ SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 403 DynamicCruiseControlStatus: 8 XXX
+ SG_ Counter : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "mph" XXX
+
+BO_ 201 SteeringWheelAngle_DSC: 8 XXX
+ SG_ Counter1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ WeirdCounter : 44|4@1+ (1,0) [0|3] "" XXX
+ SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "deg" XXX
+
+BO_ 206 WheelSpeeds: 8 XXX
+ SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
+
+BO_ 884 WheelToleranceAdjustment: 8 XXX
+
+BO_ 678 WiperSwitch: 8 XXX
+ SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 304 TerminalStatus: 8 XXX
+ SG_ AccOn : 23|1@0+ (1,0) [0|255] "" XXX
+ SG_ IgnitionOff : 22|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 169 Torque2: 8 XXX
+
+BO_ 184 TorqueTransmisionRequest: 8 XXX
+
+BO_ 196 SteeringWheelAngle: 7 XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
+ SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [0|255] "degree/s" XXX
+
+BO_ 180 WheelTorqueDriveTrain1: 8 XXX
+
+BO_ 182 DynamicCruiseControlTorqueDemand: 8 XXX
+
+BO_ 186 TransmissionData: 8 XXX
+
+BO_ 191 RequestedWheelTorqueDriveTrainActiveCruiseControl: 8 XXX
+ SG_ Counter : 11|4@0- (1,0) [0|255] "" XXX
+ SG_ TorqueReq : 16|11@1+ (1,0) [0|65535] "" XXX
+
+BO_ 414 Status_DSC: 8 XXX
+
+BO_ 416 Speed: 8 XXX
+ SG_ VehicleSpeed : 0|12@1+ (0.103,0) [0|255] "kph" XXX
+
+BO_ 418 TransimissionData2: 8 XXX
+
+BO_ 690 WheelPressure: 8 XXX
+
+BO_ 691 AccelerationData: 8 XXX
+
+BO_ 408 GearSelectorSwitch: 8 XXX
+ SG_ Gear : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 422 Distance: 8 XXX
+
+BO_ 436 InstrumentClusterStatus_KOMBI: 8 XXX
+
+BO_ 464 EngineData: 8 XXX
+
+BO_ 945 TransmissionData3: 8 XXX
+
+BO_ 200 SteeringWheelAngle_slow: 8 XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
+ SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [-65535|65535] "degree/s" XXX
+
+BO_ 466 TransmissionDataDisplay: 8 XXX
+
+BO_ 437 HeatFlow_LoadMomentClimate: 8 XXX
+
+BO_ 1152 NetworkManagment1: 8 XXX
+
+BO_ 1170 NetworkManagment2: 8 XXX
+
+BO_ 1175 NetworkManagment3: 8 XXX
+
+BO_ 1176 NetworkManagment4: 8 XXX
+
+BO_ 1193 NetworkManagment5: 8 XXX
+
+BO_ 1246 NetworkManagment6: 8 XXX
+
+BO_ 438 HeatFlowEngine: 8 XXX
+
+BO_ 784 AmbientTemperature: 8 XXX
+
+BO_ 821 ElectricFuelPumpStatus: 8 XXX
+
+BO_ 1007 EngineOBD_data: 8 XXX
+
+BO_ 1432 ServicesDKG: 8 XXX
+
+BO_ 309 CrashDisconnectControl: 8 XXX
+
+BO_ 502 TurnSignals: 2 XXX
+ SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 514 Dimming: 8 XXX
+
+BO_ 538 LampsCondition: 8 XXX
+
+BO_ 550 RainSensorWiperSpeed: 8 XXX
+
+BO_ 578 ClimateFrontStatus: 8 XXX
+
+BO_ 704 LCD_lighting: 8 XXX
+
+BO_ 758 LightControl: 8 XXX
+
+BO_ 760 Time_Date: 8 XXX
+
+BO_ 762 SeatBeltContact: 8 XXX
+
+BO_ 764 TrunkStatus: 8 XXX
+
+BO_ 797 TirePressureStatus: 8 XXX
+
+BO_ 816 Range_Mileage: 8 XXX
+
+BO_ 823 StatusFuelControl: 8 XXX
+
+BO_ 897 EngineOilLevelStatus: 8 XXX
+
+BO_ 940 Terminal30Eerror: 8 XXX
+
+BO_ 947 PowerManagmentConsumptionControl: 8 XXX
+
+BO_ 948 PowerBatteryVoltage: 8 XXX
+ SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX
+
+BO_ 958 PowerRunningTime: 8 XXX
+
+BO_ 1408 ServicesKGM: 8 XXX
+
+BO_ 1426 ServicesDME: 8 XXX
+
+BO_ 1449 ServicesDSC: 8 XXX
+
+BO_ 1504 ServicesKOMBI: 8 XXX
+
+BO_ 1522 ServicesKBM: 8 XXX
+
+BO_ 209 Accelerometer: 8 XXX
+ SG_ LateralAcceleration : 0|16@1- (1,0) [0|7] "" XXX
+ SG_ LongitudalAcceleration : 32|16@1- (1,0) [0|65535] "" XXX
+
+BO_ 172 WheelTorqueDrivetrain2: 8 XXX
+
+BO_ 128 Unknown80: 5 XXX
+ SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ State1 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 31|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 320 Unknown140: 2 XXX
+ SG_ State : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 212 Unknown_d4: 8 XXX
+ SG_ State1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter2 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 205 Unknown_cd: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0- (1,0) [0|255] "" XXX
+
+BO_ 1577 NEW_MSG_1: 8 XXX
+
+
+
+
+CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control drives";
+CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
+CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
+CM_ SG_ 170 EngineSpeed "It's hard to say that is even a rate";
+CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
+CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
+CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
+CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed";
+CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed";
+CM_ SG_ 404 Counter1 "It accelerates when requests are being sent";
+CM_ SG_ 404 Counter2 "It accelerates when requests are being sent";
+CM_ SG_ 404 notCancel_0xF "0xF unless cancel is requested then 0x0";
+CM_ SG_ 168 Brake_active2 "";
+CM_ SG_ 168 BrakePressed "Brake when driver presses the brake";
+CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque";
+CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention";
+CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target";
+CM_ SG_ 408 Gear "This is just provision, needs to be reverse engineered";
+CM_ SG_ 502 TurnSignalIdle "Turn signal off";
+CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning";
+CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker";
+CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker";
+CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk";
+VAL_ 408 Gear 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ;
@@ -18,12 +18,55 @@ unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
  d >>= 8; // remove checksum

  unsigned int s = l;
-  while (address) { s += address & 0xff; address >>= 8; }
-  while (d) { s += d & 0xff; d >>= 8; }
+  while (address) { s += address & 0xFF; address >>= 8; }
+  while (d) { s += d & 0xFF; d >>= 8; }

  return s & 0xFF;
 }

+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l) {
+  d >>= ((8-l)*8); // remove padding
+
+  unsigned int s = 0;
+  while (address) { s += address & 0xFF; address >>= 8; }
+  l -= 1; // checksum is first byte
+  while (l) { s += d & 0xFF; d >>= 8; l -= 1; }
+
+  return s & 0xFF;
+}
+
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l) {
+  /* This function does not want the checksum byte in the input data.
+  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  uint8_t checksum = 0xFF;
+  for (int j = 0; j < (l - 1); j++) {
+    uint8_t shift = 0x80;
+    uint8_t curr = (d >> 8*j) & 0xFF;
+    for (int i=0; i<8; i++) {
+      uint8_t bit_sum = curr & shift;
+      uint8_t temp_chk = checksum & 0x80U;
+      if (bit_sum != 0U) {
+        bit_sum = 0x1C;
+        if (temp_chk != 0U) {
+          bit_sum = 1;
+        }
+        checksum = checksum << 1;
+        temp_chk = checksum | 1U;
+        bit_sum ^= temp_chk;
+      } else {
+        if (temp_chk != 0U) {
+          bit_sum = 0x1D;
+        }
+        checksum = checksum << 1;
+        bit_sum ^= checksum;
+      }
+      checksum = bit_sum;
+      shift = shift >> 1;
+    }
+  }
+  return ~checksum & 0xFF;
+}
+
 // Static lookup table for fast computation of CRC8 poly 0x2F, aka 8H2F/AUTOSAR
 uint8_t crc8_lut_8h2f[256];

@@ -85,6 +128,12 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x117: // ACC_10 Automatic Cruise Control
      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
      break;
+    case 0x120: // TSK_06 Drivetrain Coordinator
+      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      break;
+    case 0x121: // Motor_20 Driver Throttle Inputs
+      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
+      break;
    case 0x122: // ACC_06 Automatic Cruise Control
      crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
      break;
@@ -100,6 +149,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x30C: // ACC_02 Automatic Cruise Control
      crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
      break;
+    case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
+      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
+      break;
    case 0x3C0: // Klemmen_Status_01 ignition and starting status
      crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
      break;
@@ -13,6 +13,8 @@
 // Helper functions
 unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
 unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l);
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l);
 void init_crc_lookup_tables();
 unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
 unsigned int pedal_checksum(uint64_t d, int l);
@@ -18,7 +18,9 @@ cdef extern from "common_dbc.h":
    PEDAL_CHECKSUM,
    PEDAL_COUNTER,
    VOLKSWAGEN_CHECKSUM,
-    VOLKSWAGEN_COUNTER
+    VOLKSWAGEN_COUNTER,
+    SUBARU_CHECKSUM,
+    CHRYSLER_CHECKSUM

  cdef struct Signal:
    const char* name
@@ -38,6 +38,8 @@ enum SignalType {
  PEDAL_COUNTER,
  VOLKSWAGEN_CHECKSUM,
  VOLKSWAGEN_COUNTER,
+  SUBARU_CHECKSUM,
+  CHRYSLER_CHECKSUM,
 };

 struct Signal {
@@ -29,6 +29,10 @@ const Signal sigs_{{address}}[] = {
      .type = SignalType::VOLKSWAGEN_CHECKSUM,
      {% elif checksum_type == "volkswagen" and sig.name == "COUNTER" %}
      .type = SignalType::VOLKSWAGEN_COUNTER,
+      {% elif checksum_type == "subaru" and sig.name == "CHECKSUM" %}
+      .type = SignalType::SUBARU_CHECKSUM,
+      {% elif checksum_type == "chrysler" and sig.name == "CHECKSUM" %}
+      .type = SignalType::CHRYSLER_CHECKSUM,
      {% elif address in [512, 513] and sig.name == "CHECKSUM_PEDAL" %}
      .type = SignalType::PEDAL_CHECKSUM,
      {% elif address in [512, 513] and sig.name == "COUNTER_PEDAL" %}
@@ -99,6 +99,12 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
      // The correct fix is unclear but this works for the moment.
      unsigned int chksm = volkswagen_crc(address, ReverseBytes(ret), message_lookup[address].size);
      ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+      unsigned int chksm = subaru_checksum(address, ret, message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+      unsigned int chksm = chrysler_checksum(address, ReverseBytes(ret), message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
    } else {
      //WARN("CHECKSUM signal type not valid\n");
    }
@@ -57,6 +57,16 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
        if (!update_counter_generic(tmp, sig.b2)) {
        return false;
      }
+    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+      if (subaru_checksum(address, dat_be, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
+    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+      if (chrysler_checksum(address, dat_le, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
    } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
      if (pedal_checksum(dat_be, size) != tmp) {
        INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
@@ -46,6 +46,20 @@ def process(in_fn, out_fn):
    checksum_start_bit = 0
    counter_start_bit = 0
    little_endian = True
+  elif can_dbc.name.startswith(("subaru_")):
+    checksum_type = "subaru"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 0
+    counter_start_bit = None
+    little_endian = True
+  elif can_dbc.name.startswith(("chrysler_")):
+    checksum_type = "chrysler"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 7
+    counter_start_bit = None
+    little_endian = False
  else:
    checksum_type = None
    checksum_size = None
@@ -43,7 +43,7 @@ BO_ 258 STEERING: 8 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

-BO_ 514 SPEED_1: 4 XXX
+BO_ 514 SPEED_1: 8 XXX
 SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
 SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX

@@ -47,6 +47,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (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_ 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
@@ -160,6 +168,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 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
@@ -284,5 +368,9 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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" ;
@@ -56,6 +56,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" 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
@@ -63,6 +64,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|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
@@ -93,12 +101,15 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
 SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -138,7 +149,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|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
@@ -148,10 +159,12 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@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

@@ -201,6 +214,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -210,6 +224,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
@@ -0,0 +1,91 @@
+CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ 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_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+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|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 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_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" 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_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" 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
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" 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
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|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|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|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_ 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_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+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_ 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" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 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";
@@ -62,7 +62,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -0,0 +1,14 @@
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
@@ -2,9 +2,8 @@ CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"

 BO_ 548 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
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|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
@@ -14,6 +13,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -11,6 +11,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -15,6 +15,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -15,6 +15,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -1,5 +1,6 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
+CM_ "IMPORT _toyota_nodsu_bsm.dbc"

 BO_ 295 GEAR_PACKET: 8 XXX
 SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
@@ -1,5 +1,6 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
+CM_ "IMPORT _toyota_nodsu_bsm.dbc"

 BO_ 401 STEERING_LTA: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
@@ -14,6 +14,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -15,6 +15,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -116,7 +116,7 @@ BO_ 388 PSCMStatus: 8 K43_PSCM
 SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
 SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO

-BO_ 417 AcceleratorPedal: 8 XXX
+BO_ 417 AcceleratorPedal: 7 XXX
 SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO

 BO_ 451 GasAndAcc: 8 XXX
@@ -170,7 +170,7 @@ BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
 SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO

-BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
+BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
 SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO

@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (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_ 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
@@ -164,6 +172,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 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
@@ -288,7 +372,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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"
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (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_ 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
@@ -164,6 +172,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 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
@@ -288,7 +372,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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"
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (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_ 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
@@ -164,6 +172,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 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
@@ -288,7 +372,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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"
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (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_ 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
@@ -164,6 +172,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 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
@@ -288,7 +372,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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_sedan_16_diesel_2019_can.dbc starts here"
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (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_ 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
@@ -164,6 +172,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 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
@@ -288,7 +372,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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"
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (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_ 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
@@ -164,6 +172,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 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
@@ -288,7 +372,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 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"
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" 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
@@ -85,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|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
@@ -115,12 +123,15 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
 SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -160,7 +171,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|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
@@ -170,10 +181,12 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@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

@@ -223,6 +236,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +246,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
@@ -0,0 +1,345 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+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
+
+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
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB 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] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ 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_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" 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_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|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
+ 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|3] "" EON
+
+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_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+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] "" EON
+ SG_ SET_TO_X55_2 : 47|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_ 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 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|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_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ 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_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|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_ HUD_DISTANCE : 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_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@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
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|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|3] "" EON
+
+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_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+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|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+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_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_hrv_touring_2019_can.dbc starts here"
+
+
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ 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_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+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|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 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_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" 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_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" 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
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" 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
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|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|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|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_ 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_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+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_ 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" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 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";
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (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_ 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
@@ -164,6 +172,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 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
@@ -288,7 +372,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_insight_ex_2019_can.dbc starts here"
@@ -1446,3 +1446,10 @@ BO_ 905 SCC14: 8 SCC

 BO_ 882 ELECT_GEAR: 8 XXX
 SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] ""  CLU
+
+BO_ 1157 LFAHDA_MFC: 4 XXX
+ SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
+ SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -361,9 +364,8 @@ CM_ "lexus_ct200h_2018_pt.dbc starts here"


 BO_ 548 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
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|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
@@ -373,6 +375,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -373,6 +376,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -373,6 +376,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -370,6 +373,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -373,6 +376,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -0,0 +1,308 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 256 CAM_Start: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 20|12@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|13@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 61|2@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 43|12@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|3@0+ (1,0) [0|15] "" XXX
+
+BO_ 358 CAM_End: 8 XXX
+ SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|32@0+ (1,0) [0|255] "" XXX
+
+BO_ 1216 CAM_69: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|12@0+ (1,0) [0|7] "" XXX
+
+BO_ 1120 CAM_KEEP_ALIVE_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1436 CAM_71: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 18 STEER: 8 XXX
+ SG_ NEW_SIGNAL_5 : 42|1@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_6 : 63|4@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CTR : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_ANGLE : 26|16@0+ (0.05,-1600) [-500|500] "" XXX
+
+BO_ 257 LKAS: 8 XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_ACT : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEAD_DIST : 0|12@0+ (1,0) [0|255] "" XXX
+ SG_ SET_19 : 7|7@0+ (1,0) [0|255] "" XXX
+ SG_ SET_0 : 48|3@1+ (1,0) [0|3] "" XXX
+ SG_ SET_0_1 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ UNKNOWN : 24|11@0+ (1,0) [0|4095] "" XXX
+ SG_ MAX_TORQUE__ : 45|11@0+ (-1,1000) [0|4095] "" XXX
+ SG_ ANGLE_TARGET : 20|12@0+ (0.1,-200) [0|4095] "" XXX
+
+BO_ 258 NEW_MSG_3: 8 XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 28 WHEEL_SPEEDS: 8 XXX
+ SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ RL : 39|16@0+ (0.01,-102) [0|65535] "" XXX
+ SG_ FL : 7|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
+
+BO_ 259 NEW_MSG_5: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 260 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 261 NEW_MSG_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 262 NEW_MSG_8: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 263 NEW_MSG_9: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 310 NEW_MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 308 NEW_MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 48|8@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 19|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 NEW_MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 23|12@0+ (1,0) [0|2047] "" XXX
+ SG_ NEW_SIGNAL_6 : 27|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_7 : 27|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 35|6@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 0|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 305 NEW_MSG_13: 8 XXX
+ SG_ NEW_SIGNAL_1 : 3|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_3 : 27|14@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 352 NEW_MSG_14: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 355 NEW_MSG_15: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 356 NEW_MSG_16: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 357 NEW_MSG_17: 8 XXX
+ SG_ NEW_SIGNAL_1 : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 59 STEER_RATE: 8 XXX
+ SG_ NEW_SIGNAL_2 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_ANGLE_RATE : 55|16@0+ (0.05,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [-500|500] "" XXX
+ SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 24 NEW_MSG_1: 8 XXX
+ SG_ NEW_SIGNAL_3 : 15|1@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 0|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 26 ENGINE_DATA: 8 XXX
+ SG_ NEW_SIGNAL_3 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX
+ SG_ RPM : 7|13@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 10|19@0+ (1,0) [0|524287] "" XXX
+ SG_ NEW_SIGNAL_4 : 43|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 145 BLINK_INFO: 8 XXX
+ SG_ RIGHT_BLINK : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLINK : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ Speed : 27|12@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 16 STEER_TORQUE: 8 XXX
+ SG_ NEW_SIGNAL_12 : 7|2@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_7 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 8|13@0+ (0.05,-205) [0|15] "" XXX
+ SG_ STEER_TORQUE_SENSOR : 5|13@0+ (1,-4000) [0|15] "" XXX
+
+BO_ 17 STEER_TORQUE_2: 8 XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 43|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 29 WHEEL: 8 XXX
+ SG_ STANDSTILL : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ SPEED : 39|16@0+ (1,0) [0|127] "" XXX
+ SG_ ENCODER_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ENCODER_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 31 NEW_MSG_4: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 96 STEER2: 8 XXX
+ SG_ NEW_SIGNAL_3 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ SPEED : 19|20@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER__ : 7|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1209 KEEP_ALIVE_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 4|5@0+ (1,0) [0|127] "" XXX
+
+BO_ 37 BLANK_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 44 BLANK_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|16777215] "" XXX
+
+BO_ 128 NEW_MSG_18: 8 XXX
+ SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 129 NEW_MSG_19: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|12@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 1034 KEEP_ALIVE_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1200 KEEP_ALIVE_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 354 CAM_KEEP_ALIVE_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|30@0+ (1,0) [0|65535] "" XXX
+
+BO_ 336 NEW_MSG_20: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_1 : 11|12@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 342 NEW_MSG_21: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|16@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_7 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_6 : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 264 NEW_MSG_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|8@1+ (1,0) [0|15] "" XXX
@@ -51,10 +51,10 @@ BO_ 118 RPM_RELATED: 8 XXX
 SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX

 BO_ 514 ENGINE_DATA: 8 XXX
- SG_ PEDAL_GAS : 39|12@0+ (0.002778,0) [0|255] "%" XXX
 SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX
 SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX
 SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "%" XXX

 BO_ 357 PEDALS: 8 XXX
 SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
@@ -64,11 +64,11 @@ BO_ 357 PEDALS: 8 XXX
 SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
 SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX
 SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX
- SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
 SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX
 SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX

 BO_ 533 WHEEL_SPEEDS: 8 XXX
 SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX
@@ -111,6 +111,7 @@ BO_ 582 CAM_LANEMAYBE: 8 XXX
 SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX
 SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX
 SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|16@0+ (1,0) [0|65535] "" XXX

 BO_ 541 CAM_EMPTY: 8 XXX

@@ -139,11 +140,12 @@ BO_ 579 CAM_LKAS: 8 XXX
 SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
 SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
 SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
 SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
+ SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ ANGLE_ENABLED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEERING_ANGLE : 33|12@0+ (1,-2048) [-2048|2047] "" XXX

 BO_ 580 CAM_DISTANCE: 8 XXX
 SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
@@ -165,14 +167,15 @@ BO_ 581 CAM_IDK3: 8 XXX
 SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX

-BO_ 863 CAM_STATUS: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_5 : 4|2@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
+BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
 SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
 SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
+ SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX

 BO_ 1157 CAM_SETTINGS: 8 XXX
 SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
@@ -193,7 +196,7 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
 SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX
 SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX
- SG_ S1_NOT : 54|1@0+ (1,0) [0|31] "" XXX
+ SG_ S1_HBEAM : 54|1@0+ (1,0) [0|31] "" XXX
 SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX
 SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX
@@ -482,14 +485,13 @@ BO_ 606 SPEED_TBD: 8 XXX
 SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX

 BO_ 552 GEAR: 8 XXX
- SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 18|3@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX
 SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX
- SG_ GEAR : 35|4@0+ (1,0) [0|15] "" XXX
- SG_ MORE_GEAR : 7|4@0+ (1,0) [0|255] "" XXX
+ SG_ MORE_GEAR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ GEAR : 2|3@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR_BOX : 36|4@0+ (1,0) [0|15] "" XXX

 BO_ 543 CRZ_EVENTS: 8 XXX
 SG_ NEW_SIGNAL_3 : 34|1@0+ (1,0) [0|1] "" XXX
@@ -545,7 +547,7 @@ BO_ 535 CURVE_CTRS: 8 XXX
 SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX
 SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
 SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX
- SG_ CURVE : 39|16@0+ (1,0) [0|7] "" XXX
+ SG_ SPEED : 39|16@0+ (0.01,0) [0|7] "kph" XXX
 SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
@@ -570,6 +572,9 @@ BO_ 540 CRZ_CTRL: 8 XXX
 SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 45|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|1] "" XXX

 BO_ 539 CRZ_INFO: 8 XXX
 SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
@@ -614,14 +619,14 @@ BO_ 1179 2017_7: 8 XXX

 BO_ 1435 2017_8: 8 XXX

-BO_ 253 NEW_MSG_7: 8 XXX
+BO_ 253 GAS: 8 XXX
 SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
 SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_CMD : 55|8@0+ (1,0) [0|255] "" XXX

-BO_ 359 NEW_MSG_11: 8 XXX
+BO_ 359 MORE_GAS: 8 XXX
 SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX
@@ -700,6 +705,7 @@ BO_ 1143 BSM: 8 XXX
 SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
 SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX

 BO_ 1361 KEY_POSITION: 8 XXX

@@ -744,8 +750,12 @@ BO_ 1248 MOB4: 8 XXX



+CM_ SG_ 357 GEAR "13P, 26R, 13N, 24D";
 CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
 CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision";
+CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
+CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
+CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
 CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
 CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
 CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
@@ -755,6 +765,9 @@ CM_ SG_ 1157 WARNING "1 Rare, 0 often";
 CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
 CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
 CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled  TURN it OFF ";
-CM_ SG_ 552 GEAR "0 P/N, 12 R, 2 D M1, 4 M2, 14 Shift";
 CM_ SG_ 552 MORE_GEAR "";
+CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
+CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
 CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
+CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
+VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
@@ -1,184 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 644 Speed_1: 8 XXX
- SG_ Speed_FR : 7|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_FL : 23|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_Vehicle : 39|16@0+ (0.0245,0) [0|65535] "" XXX
-
-BO_ 645 WheelspeedRear: 8 XXX
- SG_ RR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
- SG_ RL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
-
-BO_ 768 STEER_TORQUE: 8 XXX
- SG_ STEERING_TOURQUE : 0|7@1+ (1,0) [0|127] "" XXX
-
-BO_ 459 Maybe_RegenBraking: 8 XXX
-
-BO_ 372 Maybe_Gear_Selector: 8 XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 460 Maybe_Brake_Related: 8 XXX
-
-BO_ 2 SteeringWheel: 8 XXX
- SG_ Steering_RateChange : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ Always_07 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
-
-BO_ 384 Maybe_PowerInfo: 8 XXX
- SG_ Unknown_Timer_PowerInfo : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ EnginePower : 27|12@0- (1,0) [0|1] "" XXX
- SG_ RequestedAccel : 23|12@0- (1,0) [0|4294967295] "" XXX
-
-BO_ 1107 Lights: 8 XXX
- SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ _HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 666 WheelspeedFront: 8 XXX
- SG_ _FL_WHEELSPEED : 39|16@0+ (0.01014,0) [0|65535] "" XXX
- SG_ FR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
- SG_ FL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
-
-BO_ 398 NEW_MSG_2: 8 XXX
-
-BO_ 389 NEW_MSG_3: 8 XXX
- SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 22|6@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|127] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 30|8@0- (1,0) [0|255] "" XXX
-
-BO_ 397 NEW_MSG_4: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|31] "" XXX
-
-BO_ 658 NEW_MSG_5: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 855 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 773 NEW_MSG_7: 8 XXX
- SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 851 SPEED_RELATED: 8 XXX
- SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
-
-BO_ 386 Accelerator: 8 XXX
- SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
-
-BO_ 347 ACCELSOMETHING: 8 XXX
- SG_ PowerMaybe : 9|10@0+ (1,0) [0|1023] "" XXX
- SG_ ACCELERATOR2 : 6|11@0+ (1,-800) [0|65535] "" XXX
-
-BO_ 346 ANOTHER_ACCEL: 8 XXX
- SG_ ANOTHERACCEL : 23|10@0+ (1,0) [0|1023] "" XXX
- SG_ Reverse_ACCEL : 25|10@0+ (1,0) [0|1023] "" XXX
-
-BO_ 348 FULLRANGEACCEL: 8 XXX
- SG_ AccelFullRange : 47|10@0+ (1,0) [0|1023] "" XXX
- SG_ Accel : 26|11@0+ (1,0) [0|2047] "" XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 566 ANOTHERFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERFULLRANGEACCEL : 43|8@0+ (1,0) [0|1023] "" XXX
- SG_ RPMORTORQUE : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 523 Yetyetanotheraccel: 8 XXX
- SG_ ANOTHERREVERSEACCEL : 37|10@0+ (1,0) [0|1023] "" XXX
- SG_ yetyetanotheraccel : 31|10@0+ (1,0) [0|255] "" XXX
-
-BO_ 779 ANOTHERRRFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERRRFULLRANGEACCEL : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1108 Doors: 8 XXX
- SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
- SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
- SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 403 LKAS_OLD: 8 XXX
- SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ Angle_2 : 32|13@0+ (1,-4000) [0|63] "" XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ Angle_1 : 10|13@0+ (0.12,-480) [0|65535] "" XXX
- SG_ Steering_Torque : 7|13@0+ (-1,4000) [0|65535] "" XXX
- SG_ Torque_Command : 29|13@0+ (1,-4000) [0|255] "" XXX
-
-BO_ 412 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 361 LKAS: 8 XXX
- SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_X80 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ LKA_Active : 52|1@0+ (1,0) [0|15] "" XXX
- SG_ CRC : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ Des_Angle : 7|18@0+ (-0.01,1310) [0|255] "" XXX
-
-BO_ 438 ProPilot: 8 XXX
- SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 27|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|7] "" XXX
- SG_ Counter : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_3 : 32|2@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 7|12@0- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 23|12@0- (-1,0) [0|255] "" XXX
- SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
- SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ STEER_STATUS : 51|1@1+ (1,0) [0|3] "" XXX
- 
@@ -0,0 +1,211 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
+ SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 42 SEATBELT: 8 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
+ SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 361 LKAS: 8 XXX
+ SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
+ SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 460 BRAKE_PEDAL: 8 XXX
+ SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
+
+BO_ 569 CRUISE_THROTTLE: 8 XXX
+ SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
+ SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure4 : 39|6@0+ (1,0) [0|63] "" XXX
+ SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 640 CANCEL_MSG: 8 XXX
+  SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
+  SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
+
+BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
+ SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 689 PROPILOT_HUD: 8 XXX
+ SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
+ SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
+ SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 783 CRUISE_STATE: 3 XXX
+ SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 852 ESP: 8 XXX
+ SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 853 HUD_SETTINGS: 8 XXX
+ SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 856 LIGHTS: 8 XXX
+ SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1057 GEARBOX: 3 XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
+ SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX
+ SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX
+ SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1549 DOORS_LIGHTS: 8 XXX
+ SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1227 LKAS_SETTINGS: 8 XXX
+ SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
+VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
+VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
+VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
@@ -0,0 +1,217 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
+ SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 348 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
+ SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX
+
+BO_ 361 LKAS: 8 XXX
+ SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
+ SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 438 PRO_PILOT: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
+ SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 523 CRUISE_THROTTLE: 6 XXX
+ SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
+ SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX
+ SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
+ SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
+ SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
+ SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
+ SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 665 ESP: 8 XXX
+ SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 689 PROPILOT_HUD: 8 XXX
+ SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
+ SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
+ SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
+ SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
+
+BO_ 783 CRUISE_STATE: 3 XXX
+ SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1055 GEARBOX: 2 XXX
+ SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1107 LIGHTS: 8 XXX
+ SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1108 DOORS_LIGHTS: 8 XXX
+ SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
+ SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
+ SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX
+ SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX
+ SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1227 LKAS_SETTINGS: 8 XXX
+ SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1273 SEATBELT: 7 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
+VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
+VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
+VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
@@ -38,24 +38,24 @@ BU_: XXX X

 BO_ 2 Steering: 8 XXX
 SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX

 BO_ 64 Throttle: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 55|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX

 BO_ 65 NEW_MSG_1: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
@@ -63,17 +63,18 @@ BO_ 65 NEW_MSG_1: 8 XXX
 SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
 SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX

-BO_ 72 NEW_MSG_2: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 72 Transmission: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX

 BO_ 316 NEW_MSG_3: 8 XXX

 BO_ 326 Cruise_Buttons: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
 SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
@@ -86,7 +87,7 @@ BO_ 315 G_Sensor: 8 XXX
 SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX

 BO_ 314 Wheel_Speeds: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
 SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
@@ -94,131 +95,156 @@ BO_ 314 Wheel_Speeds: 8 XXX
 SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX

 BO_ 73 NEW_MSG_5: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
 SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX

-BO_ 280 NEW_MSG_6: 8 XXX
+BO_ 280 STOP_START: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
+ SG_ State : 63|1@1+ (1,0) [0|1] "" XXX

 BO_ 281 Steering_Torque: 8 XXX
- SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
 SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
 SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
+ SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
 SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX

 BO_ 312 Brake_Pressure_L_R: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
- SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
 SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 313 Brake_Pedal: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 12|22@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ Signal2 : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
+ SG_ Signal3 : 48|16@1+ (1,0) [0|1] "" XXX

 BO_ 290 ES_LKAS: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
 SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
 SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX

 BO_ 722 NEW_MSG_10: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX

 BO_ 544 ES_Brake: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
- SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
+ SG_ Signal2 : 32|4@1+ (1,0) [0|1] "" XXX
+ SG_ State : 36|4@1+ (1,0) [0|63] "" XXX
+ SG_ Signal3 : 40|24@1+ (1,0) [0|1] "" XXX

 BO_ 545 ES_Distance: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
- SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
- SG_ ACC_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_Set : 57|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_Resume : 58|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 59|5@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Cruise_Throttle : 12|20@1+ (1,0) [0|15] "" XXX
+ SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 33|4@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 37|1@1+ (1,0) [0|15] "" XXX
+ SG_ Signal2 : 38|2@1+ (1,0) [0|1] "" XXX
+ SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 48|8@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 59|5@1+ (1,0) [0|1] "" XXX

 BO_ 546 ES_Status: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
 SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX

 BO_ 554 ES_Blank: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
 SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX

 BO_ 557 NEW_MSG_14: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 576 CruiseControl: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX

 BO_ 577 NEW_MSG_16: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX

 BO_ 552 NEW_MSG_17: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX

 BO_ 912 Dashlights: 8 XXX
 SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
 SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
 SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX

 BO_ 940 BodyInfo: 8 XXX
- SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
 SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
- SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
 SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX

 BO_ 801 ES_DashStatus: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
+ SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
 SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Hold : 60|4@1+ (1,0) [0|15] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX

 BO_ 802 ES_LKAS_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
 SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
@@ -237,62 +263,62 @@ BO_ 802 ES_LKAS_State: 8 XXX
 SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
 SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Lead_Vehicle_Start_Alert : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
 SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
- SG_ Vehicle_In_Front_Has_Moved : 35|1@1+ (1,0) [0|1] "" XXX

 BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX

 BO_ 808 NEW_MSG_23: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 837 NEW_MSG_24: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX

 BO_ 838 NEW_MSG_25: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX

 BO_ 842 NEW_MSG_26: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX

 BO_ 915 NEW_MSG_27: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX

 BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX

 BO_ 816 NEW_MSG_29: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 826 NEW_MSG_30: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 839 NEW_MSG_31: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 2015 NEW_MSG_32: 8 XXX
@@ -305,38 +331,39 @@ BO_ 2024 NEW_MSG_33: 8 XXX
 SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX

 BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1632 NEW_MSG_36: 8 XXX
 SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX

 BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX

 BO_ 1677 Dash_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
 SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
+ SG_ Icy_Road_Warning : 20|1@1+ (1,0) [0|1] "" XXX

 BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1785 NEW_MSG_42: 8 XXX
@@ -360,10 +387,15 @@ BO_ 1787 NEW_MSG_45: 8 XXX



-CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
+CM_ SG_ 544 State "0 = ES disabled, 8 = ES enabled, 12, 13 = ES_Brake active";
+CM_ SG_ 545 ES_Cruise_Throttle "signal might be smaller, values do not correlate with Throttle:CruiseThrottle";
+CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
-CM_ SG_ 801 ACC_Hold "0 = No Hold, 3 = Hold";
-CM_ SG_ 802 Vehicle_In_Front_Has_Moved "Crosstrek 2018 = car in front has moved";
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 801 PCB_Off "Pre-Collision Braking";
+CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
 CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
 CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
 CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6" ;
@@ -38,11 +38,11 @@ BU_: XXX X

 BO_ 2 Steering: 8 XXX
 SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX

 BO_ 64 Throttle: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
 SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
@@ -55,7 +55,7 @@ BO_ 64 Throttle: 8 XXX
 SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX

 BO_ 65 NEW_MSG_1: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
@@ -63,17 +63,18 @@ BO_ 65 NEW_MSG_1: 8 XXX
 SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
 SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX

-BO_ 72 NEW_MSG_2: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 72 Transmission: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX

 BO_ 316 NEW_MSG_3: 8 XXX

 BO_ 326 Cruise_Buttons: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
 SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
@@ -86,7 +87,7 @@ BO_ 315 G_Sensor: 8 XXX
 SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX

 BO_ 314 Wheel_Speeds: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
 SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
@@ -94,7 +95,7 @@ BO_ 314 Wheel_Speeds: 8 XXX
 SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX

 BO_ 73 NEW_MSG_5: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
 SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX

@@ -105,7 +106,7 @@ BO_ 280 NEW_MSG_6: 8 XXX
 SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX

 BO_ 281 Steering_Torque: 8 XXX
- SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
 SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
@@ -114,37 +115,39 @@ BO_ 281 Steering_Torque: 8 XXX
 SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX

 BO_ 312 Brake_Pressure_L_R: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
 SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
 SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX

 BO_ 313 Brake_Pedal: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
 SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX

 BO_ 290 ES_LKAS: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
 SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
 SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX

 BO_ 722 NEW_MSG_10: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX

 BO_ 544 ES_Brake: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
 SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX

 BO_ 545 ES_Distance: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
 SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
@@ -152,73 +155,75 @@ BO_ 545 ES_Distance: 8 XXX
 SG_ Signal3 : 57|7@1+ (1,0) [0|1] "" XXX

 BO_ 546 ES_Status: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
 SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX

 BO_ 554 ES_Blank: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
 SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX

 BO_ 557 NEW_MSG_14: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 576 CruiseControl: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX

 BO_ 577 NEW_MSG_16: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX

 BO_ 552 NEW_MSG_17: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX

 BO_ 912 Dashlights: 8 XXX
 SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
 SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
 SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX

 BO_ 940 BodyInfo: 8 XXX
- SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
 SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
- SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
 SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX

 BO_ 801 ES_DashStatus: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_9 : 60|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
 SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX

 BO_ 802 ES_LKAS_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
 SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
@@ -242,57 +247,57 @@ BO_ 802 ES_LKAS_State: 8 XXX
 SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX

 BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX

 BO_ 808 NEW_MSG_23: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 837 NEW_MSG_24: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX

 BO_ 838 NEW_MSG_25: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX

 BO_ 842 NEW_MSG_26: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX

 BO_ 915 NEW_MSG_27: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX

 BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX

 BO_ 816 NEW_MSG_29: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 826 NEW_MSG_30: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 839 NEW_MSG_31: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 2015 NEW_MSG_32: 8 XXX
@@ -305,38 +310,38 @@ BO_ 2024 NEW_MSG_33: 8 XXX
 SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX

 BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1632 NEW_MSG_36: 8 XXX
 SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX

 BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX

 BO_ 1677 Dash_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
 SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX

 BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1785 NEW_MSG_42: 8 XXX
@@ -362,7 +367,9 @@ BO_ 1787 NEW_MSG_45: 8 XXX

 CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 801 Cruise_State "0 = Normal, 3 = Hold";
 CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
 CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
 CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
 CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -374,6 +377,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -373,6 +376,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -374,6 +377,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -373,6 +376,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -1,6 +1,23 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"


+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+
 CM_ "Imported file _comma.dbc starts here"
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +113,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -360,6 +380,7 @@ CM_ "toyota_nodsu_hybrid_pt.dbc starts here"



+
 BO_ 295 GEAR_PACKET: 8 XXX
 SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
 SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
@@ -1,6 +1,23 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"


+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+
 CM_ "Imported file _comma.dbc starts here"
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +113,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -360,6 +380,7 @@ CM_ "toyota_nodsu_pt.dbc starts here"



+
 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
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -373,6 +376,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -373,6 +376,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 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
@@ -374,6 +377,7 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -825,6 +825,8 @@ BO_ 1648 Motor_18: 8 Motor_Diesel_MQB
 SG_ MO_obere_Drehzahlgrenze : 56|8@1+ (50,0) [50|12750] "Unit_MinutInver" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB

 BO_ 289 Motor_20: 8 Motor_Diesel_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX
 SG_ MO_Fahrpedalrohwert_01 : 12|8@1+ (0.4,0) [0|101.6] "Unit_PerCent" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ MO_QBit_Fahrpedalwerte_01 : 20|1@1+ (1,0) [0|1] "" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ MO_Fahrpedalgradient : 21|8@1+ (25,0) [0|6350] "Unit_PerCentPerSecon" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
@@ -1106,8 +1108,8 @@ BO_ 1413 Systeminfo_01: 8 Gateway_MQB
 SG_ SI_BUS_15 : 30|1@1+ (1,0) [0|1] "" Vector__XXX

 BO_ 288 TSK_06: 8 Motor_Diesel_MQB
- SG_ TSK_06_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
- SG_ TSK_06_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ TSK_Radbremsmom : 12|12@1+ (8,0) [0|32760] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ TSK_Status : 24|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ TSK_v_Begrenzung_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
@@ -1252,9 +1254,26 @@ BO_ 695 RCTA_01: 8 XXX
 SG_ RCTA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ RCTA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX

-BO_ 783 SWA_01: 8 XXX
- SG_ SWA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SWA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 783 SWA_01: 8 Gateway_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  Vector__XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  Vector__XXX
+ SG_ SWA_Anzeigen : 12|4@1+ (1,0) [0|15] ""  Kombi_D4
+ SG_ SWA_Blindheit_erkannt : 16|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_rel_Nichtverf : 17|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_rel_Fehler : 18|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Sta_aktiv : 19|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Sta_passiv : 20|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Standziele_li : 24|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_li : 25|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Infostufe_SWA_li : 26|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Warnung_SWA_li : 27|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_mi : 33|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Standziele_re : 40|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_re : 41|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Infostufe_SWA_re : 42|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Warnung_SWA_re : 43|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Gischtzaehler : 48|7@1+ (1,0) [0|100] "Unit_PerCent"  Vector__XXX
+ SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] ""  Vector__XXX

 BO_ 804 ACC_04: 8 XXX
 SG_ ACC_04_CRC : 0|8@1+ (1,0) [0|255] "" XXX
@@ -11,7 +11,7 @@ jobs:
      - run:
          name: Run safety test
          command: |
-            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"
+            docker run panda_safety /bin/bash -c "cd /openpilot/panda/tests/safety; PYTHONPATH=/openpilot ./test.sh"

  misra-c2012:
    machine:
@@ -1 +1 @@
-v1.7.3
+v1.7.5
@@ -23,9 +23,13 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
 }

 void black_enable_can_transcievers(bool enabled) {
-  uint8_t t1 = enabled ? 1U : 2U;  // leave transciever 1 enabled to detect CAN ignition
-  for(uint8_t i=t1; i<=4U; i++) {
-    black_enable_can_transciever(i, enabled);
+  for(uint8_t i=1U; i<=4U; i++){
+    // Leave main CAN always on for CAN-based ignition detection
+    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
+      black_enable_can_transciever(i, true);
+    } else {
+      black_enable_can_transciever(i, enabled);
+    }
  }
 }

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Willem Melching	abfe469d95	interrupt number different on EON	2020-05-12 15:15:27 -07:00
Willem Melching	a39e33b9d0	add latest revision of the model	2020-05-11 10:14:46 -07:00
Willem Melching	c9c66ce21a	Fix counter in HKG clu11 message (#1484 ) * fix counter in clu11 message * update ref	2020-05-10 20:14:15 -07:00
Vehicle Researcher	ddee718536	openpilot v0.7.5 release	2020-05-09 13:01:35 -07:00
Vehicle Researcher	7e908db510	Merge opendbc subtree	2020-05-09 13:01:32 -07:00
Vehicle Researcher	e0ab166ed3	Squashed 'opendbc/' changes from a62d5dd84..f1e69a6cf f1e69a6cf Fix wrong message size in Chrysler 54482cfb0 Fix GM message signal sizes 4e796e06d Fix wrong message sizes in Nissan fb6c1ee2b Better GEAR signal tracking the gear stick rather than the gear box (#257) d7a2efbbd Raw angle signal data for easy checksum calc, and one less gear bit (#254) 7456061a7 add checksum check to can parser for subaru 7f3b1774d Chrysler: calculate checksum in can packer/parser (#255) 0c0215516 Rename BYTE_ to SET_ME_X (#253) 1efe437cf Add values for a static 0xe5 (honda bosch) (#250) 7dffe0bd9 Create DBC for HRV (#248) b69398525 Add LFAHDA message to hyundai a57e7ddbd CANPacker: Subaru checksum support (#241) 36c471e59 Fixed signals order and added new signals for subaru global (#221) 7b5a1fcc1 BMW 2008-2013 (#230) cc09af763 Add RPM signal (#216) 47db9238f Add SWA_01 message detail and CRC support for VW MQB (#236) c98fe2ab9 Fixed signal unknown1 overlapping the button bits (#239) 572261ee3 Rear Cross Traffic Alert 044730aeb Speed limit signs 87b1a21fb Pedals/gear, gas pedal scale value ce78044d8 Tracking the steer angle with LKAS signal 7f19ab415 Introduce the new mazda 3 2019/2020 dbc e58520619 traffic sign speed limit 00bad5ee7 Speed Auto High Beam Traffic signs 9d080ea42 Nissan leaf (#238) 50fbbe739 nissan x trail cleanup (#237) git-subtree-dir: opendbc git-subtree-split: f1e69a6cf91cdaf1b8008d73f6fbb6634fbbeb42	2020-05-09 13:01:32 -07:00
Vehicle Researcher	d1aff96611	Merge panda subtree	2020-05-09 13:01:28 -07:00
Vehicle Researcher	eb0dff8438	Squashed 'panda/' changes from 0696730c1..869f12321 869f12321 Hyundai: counter check (#530) a4390713e gitignore for route logs ac1b64e62 Fix CAN Ignition for Black Panda and Uno (#526) 273e3882f When initializing all the CAN busses, make sure the are also cleared (#527) c2bea78f6 Fix python library on Windows (#523) 0a123b181 that too ba6355d4c unused lines c9102c00e Chrysler: use can packer in safety tests (#522) 9874e7335 Abstract steering safety tests for Toyota and Chrysler (#520) 2299ecffc Block 0xe5 (Honda Bosch) at the panda/uno. Only allow static values. (#515) 351730611 Subaru: fix steer torque scaling (#501) 0bc864b3d Make torque-based steering state global (#518) d9355c414 Make cruise_engaged_prev a global + test case for it (#519) 211537641 Abstract sample speed test (#516) 11dc9054f remove unused function e5a586eea Abstract gas interceptor tests (#517) 1dbed65e3 Safety Test Refactor: Honda (#495) 0632710ac base class for different panda safety tests bd98fe603 safety tests: use shorter function name ba59ada0e No ESP in non-white (#514) c3336180b Fix the CAN init fix (#513) 884afa0ef Safety Test Refactor: Chrysler and Volkswagen PQ (#508) d77b72d16 Safety Test Refactor: Nissan (#510) 4c7755c47 Match Panda DFU entry fix in "make recover" process (#509) 0336f625d Pedal gas pressed safety limits (#507) 715b1a169 Hyundai-Kia-Genesis (HKG) (#503) 6f105e827 Safety Test Refactor: Subaru (#502) 57cc954f2 Safety Test Refactor: GM (#504) dd01c3b9c Safety Test Refactor: Hyundai (#505) 592c2c864 add support to can_unique.py for Cabana CSV format. (#506) ccf13b7af No more infinite while loops in CAN init (#499) 6c442b4c3 Safety Test Refactor: Volkswagen MQB (#493) f07a6ee7c panda recover should go through bootstub first (#498) 8cc3a3570 remove cadillac (#496) 62e4d3c36 Chrysler: fix missing button signal on TX (#490) abce8f32b Safety Test Refactor: Toyota + support code (#491) 500370aec Make sure relay faults make it to the health packet (#492) bc90b60f9 toyota: use universal gas pressed bit (#488) 74d10ccd3 Fixed possible race condition (#487) a05361ebc cleanup safety_replay dockerfile (#486) fe73dcc91 Openpilot-tools is deprecated (#484) da8e00f11 TX message guaranteed delivery (#421) d8f618492 Add ISO number for longitudinal limits flag comment 6a60b7811 touch ups 2ce65361d comments on unsafe flags d88013450 remove from there as well 055ea07ee remove that unsafe flag since it isn't implemented and it's unclear how to 4e98bbe8c Apply unsafe allow gas mode to all cars. (#480) 0c2c14949 Fixing libusb busy error (#174) 753c42cf5 Update Board Mac SDK Install script to work on clean mac (#146) b9a9ea395 Unsafe gas disengage mods, fix test compile warning (#481) 08ef92d58 Safety model for Volkswagen PQ35/PQ46/NMS (#474) 51e0a55d6 Support code for unsafe mode unit tests (#478) 5325b62bb current_safety_mode 7908b7224 update updating unsafe mode 98503e866 disable stock honda AEB in unsafe mode (#477) 01b2ccbed one more 9a30265a8 weak steering while not engaged 577f10b1a added options for unsafe mode 83cf7bf4c update comment 4556e7494 enable unsafe mode, toggle for use by forks that so choose de89fcdc4 Nissan leaf (#473) git-subtree-dir: panda git-subtree-split: 869f1232186f440eb388df82b85b88d346899199	2020-05-09 13:01:28 -07:00
Vehicle Researcher	d692982601	Merge cereal subtree	2020-05-09 13:01:20 -07:00
Vehicle Researcher	5bfae8d806	Squashed 'cereal/' changes from 65119906..12aad06e 12aad06e no more c capnp 0050e0ac stockFcw event 2c325ed3 gasPressed event 8573a24d don't duplicate ordinals 3f384efa add carState.steerWarning and carState.steerError 8b347b0a add repeated warning2 3adb8991 add sharpness metric 65af4368 Add relayMalfunction alert 442e914d add preview driver flag c8e5db83 Add comment to faulttype 975a633b Add all panda fault types to health 93ccbcb7 UiLayoutState: add mockEngaged for onboarding 9dbbb545 UiLayoutState: add 'none' app c820f83d Add offroadLayout service e370f795 Add the laneChangeBlocked Event (#40) 35040fe6 Update service documentation (#39) 8f13dfca Additional car params auto-detection in support of VW (#38) 22986de4 add speedTooHigh alert f515e4db Add invalid lkas setting alert 59087620 gnustl_shared is only for android b0c746b1 solve by renaming event name instead of service df82a53c the service is called androidLogEntry git-subtree-dir: cereal git-subtree-split: 12aad06e12f249e57abda1664fb0c85e484a0c5d	2020-05-09 13:01:20 -07:00
robbederks	cc6358d983	Power monitoring fix (#1269 ) * Release lock after exceptions * No pulsed measurement on uno * Fix last_measurement_time=None while integrating when going offroad * Also clear next pulsed measurement time * Move around locks * Locks are good now?	2020-03-23 18:03:15 -07:00
Willem Melching	a5c3340c8d	Fix kernel logging in logcatd, fixes #957	2020-03-17 17:03:10 -07:00
Willem Melching	fa98a83b06	camerad zmq_poll, also recover from EAGAIN	2020-03-17 13:47:15 -07:00
Vehicle Researcher	d1ad7f3fe1	openpilot v0.7.4 release	2020-03-16 16:19:36 -07:00
Vehicle Researcher	72427d8cc4	Squashed 'opendbc/' changes from 2ae0327ea..a62d5dd84 a62d5dd84 Add TSK_06 CRC validation for VW MQB (#234) ce723756f Fixed up sign on Driver Torque, added unit (#233) bd72c72be Added ProPilot HUD messages (#231) f308ca62e Subaru: added counter and checksum to brake msg d1f76d609 Add Motor_20 CRC support (#229) 6252718a9 Add STEER_ANGLE to all STEER_TORUQE_SENSOR messages (#228) c0b426126 Revert "add angle field in torque sensor message to all cars (#227)" bd82848c7 add angle field in torque sensor message to all cars (#227) 56f0259df Lexus CTH fix: brake pressed is on bit 5 like corolla and rav4 9b6ca31b2 fix: Replicate changes done on _honda_2017.dbc (#225) 1bd26d0a6 Added messages. Cleaned up endianness (#226) 44b9e74fa Revert "Toyota: add checksum to BRAKE_MODULE (#224)" 8b18c92e2 Toyota: add checksum to BRAKE_MODULE (#224) 2bab4d6d7 Add Honda-Bosch lane line detection signals. (#223) a1aa3b78f Cleanup of Nissan DBC (#218) c1f764828 reverting changes to Chrysler: speed message seems different from car to car 2de8e9e82 Chrysler: Speed msg is 5 bytes f4ac315ed Chrysler: add counter to 514 0fb62cf86 Toyota Blind Spot Monitor (TSS2-only?) (#219) git-subtree-dir: opendbc git-subtree-split: a62d5dd847c352be2daf28288f093f4c25a8308d	2020-03-16 16:19:33 -07:00
Vehicle Researcher	9397e18742	Merge opendbc subtree	2020-03-16 16:19:33 -07:00
Vehicle Researcher	0e793367de	Merge panda subtree	2020-03-16 16:19:33 -07:00
Vehicle Researcher	a3690e4034	Squashed 'panda/' changes from 769ade051..0696730c1 0696730c1 Toyota: add missing offset from speed signal (#469) 5b1a8dc87 Filtering LKAS HUD messages (#468) 99050f412 test_spam_can_buses was missing from Nissan 0f21b19bb Cleanup pedal nomenclature (#467) ceff91d3c Standardize brake safety tests (#465) 04809e132 Hyundai brake check (#464) 74c8ee0a7 Subaru brake check (#463) 4ecc6b358 Cleanup: avoid unnecessary bus checks in rx hooks c7d0d5fc7 Volkswagen safety updates: Phase 3 (#462) 436874885 WIP: Toyota brake check. (#459) 2ef996fd9 fix addr frequencies e063b2688 Second test fix tentative 88e25938f This should fix the test replay ebb88665c Added NISSAN replay test b2dbb504d remove toyota ipas safety code and tests (#460) a379faf2b White Panda's Wi-Fi setup instructions (#457) 11ef24bc1 Improve tests (#456) fb02390d4 Subaru checksum counter (#455) 9a4449987 Fix Subaru Legacy Torque driver bug (#454) dfa6b079d separating subary legacy safety mode from global (#452) dad5858b8 Chrysler: add brakepress cancellation (#451) db94a5b81 Added Nissan safety (#244) d7f1195d1 Chrysler Checksum/counter (#450) 96e535e5a abstract crc function (#448) 1b49d3e83 Hyundai: add gas disengage and tests (#447) 598074c19 Volkswagen safety updates: Phase 2 (#445) b2ffaae60 Chrysler: disengage on gas press (#442) 2ebbe3616 Subaru: disengage on gas press (#446) ccf75c456 Volkswagen safety updates: Phase 1 (#444) git-subtree-dir: panda git-subtree-split: 0696730c140dfb537e3a102ee6334c334f9a087f	2020-03-16 16:19:32 -07:00
Vehicle Researcher	29f108de10	Squashed 'cereal/' changes from eba4349b9..651199064 651199064 log focus state 8efe413a4 qlog radarState eeb3d5697 Add liveLocationKalman to qlogs 128b3f9a3 add networkStrength to thermal (#36) 2e5cbfc83 Create and init message in one line with `new_message` in messaging (#35) 458910759 not everyone likes gpstime 17363e988 support for end of log sentinel (#34) f6e9345cb val valid is confusing bb2cc7572 fix duplicate ordinals 0c38fc9e1 Add blindspot cereal values (#26) bd9a877d8 pulse desire and e2e 20c7fd608 Add subaru pre-Global safety mode 522ff85d9 Merge pull request #31 from commaai/good_location_packet ab07f229d deprecate b03c2c52a already exists 166418c00 improvements 97373f9d2 or rigor in american 365abba2e rigour 25eaf9df5 add espDisabled to carState (#30) bb1312128 add honda ecus (#29) git-subtree-dir: cereal git-subtree-split: 6511990644c5a133518b88d0cdaec089d216f607	2020-03-16 16:19:31 -07:00
Vehicle Researcher	a091133e80	Merge cereal subtree	2020-03-16 16:19:31 -07:00