Revert "add wrong neos version alert (#1725 )"

This reverts commit 9ff1fb48de.
update affected order numbers
2026-08-25 02:03:43 +08:00 · 2020-06-19 16:50:38 -07:00 · 2020-06-16 13:42:35 -07:00 · 2020-06-16 13:39:29 -07:00 · 2020-06-16 12:49:38 -07:00 · 2020-06-05 15:02:26 -07:00
1028 changed files with 28668 additions and 221835 deletions
@@ -20,7 +20,9 @@ a.out
 .*.un~
 *.tmp
 *.o
+*.o-*
 *.os
+*.os-*
 *.so
 *.a
 *.clb
@@ -54,6 +56,9 @@ xx
 panda_jungle

 .coverage*
+coverage.xml
+cppcheck_report.txt
 htmlcov
 pandaextra

+.mypy_cache/
@@ -2,7 +2,7 @@

 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.

-Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).

 ## Getting Started

@@ -18,7 +18,7 @@ You can test your changes on your machine by running `run_docker_tests.sh`. This

 ### Automated Testing

-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.
+All PRs and commits 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

@@ -48,3 +48,4 @@ Modules that are in seperate repositories include:
 * laika
 * opendbc
 * panda
+* rednose
@@ -57,106 +57,124 @@ 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>6</sup>  | 25mph             |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>6</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             |
+| 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        | Honda Sensing     | Stock            | 0mph               | 2mph<sup>4</sup>  |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 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 2017-20                  | 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>6</sup>  | 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>6</sup>  | 0mph              |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>6</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>5</sup>| 0mph               | 0mph              |
+| 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>5</sup>| 0mph               | 0mph              |
-| Lexus     | RX 2016-17                    | All               | Stock<sup>5</sup>| 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>5</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>5</sup>| 20mph<sup>6</sup>  | 0mph              |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>5</sup>| 20mph<sup>6</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              |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2020                | All               | openpilot        | 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>5</sup>| 20mph<sup>6</sup>  | 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>5</sup>| 0mph               | 0mph              |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>5</sup>| 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    | Prius 2016                    | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>5</sup>| 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>5</sup>| 0mph               | 0mph              |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph              |
+| Toyota    | Sienna 2018-20                | 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>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <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>7</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>7</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>7</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>7</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>7</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>7</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                      | All               | Stock            | 0mph               | 0mph         |
+| GMC       | Acadia Denali 2018<sup>2</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   | 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                 | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2019-20                | 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 2018-19<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 2018-19<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2019<sup>2</sup>        | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | X-Trail 2017<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
+| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Impreza 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |

-<sup>5</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>6</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>7</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>May require a custom connector for the developer [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.

@@ -174,7 +192,7 @@ 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.
@@ -194,7 +212,7 @@ 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.
@@ -212,13 +230,13 @@ 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.

@@ -240,7 +258,7 @@ 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.
@@ -267,15 +285,15 @@ 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
@@ -289,7 +307,7 @@ 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`.
@@ -308,3 +326,9 @@ 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>
+
+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg)](https://github.com/commaai/openpilot/actions)
+[![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 0.7.6.1 (2020-06-16)
+========================
+* Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+* White panda is deprecated, upgrade to comma two or black panda
+* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+* Huge CPU savings in modeld by using thneed!
+* Lots of code cleanup and refactors
+
+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!
+* 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
@@ -14,47 +14,58 @@ 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":
+    libpath += ["#phonelibs/snpe/larch64"]
+    libpath += ["#phonelibs/libyuv/larch64/lib"]
+    libpath += ["/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",
  ]

  if arch == "Darwin":
    libpath = [
-      "#phonelibs/capnp-cpp/mac/lib",
-      "#phonelibs/capnp-c/mac/lib",
      "#phonelibs/libyuv/mac/lib",
      "#cereal",
      "#selfdrive/common",
@@ -63,12 +74,8 @@ 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",
-      "#external/zmq/lib",
      "#external/tensorflow/lib",
      "#cereal",
      "#selfdrive/common",
@@ -76,8 +83,7 @@ else:
      "/usr/local/lib",
    ]

-  rpath = ["phonelibs/capnp-cpp/x64/lib",
-           "phonelibs/zmq/x64/lib",
+  rpath = [
           "external/tensorflow/lib",
           "cereal",
           "selfdrive/common"]
@@ -100,11 +106,9 @@ env = Environment(
    "-g",
    "-fPIC",
    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
+    "-Werror",
+    "-Wno-deprecated-register",
+    "-Wno-inconsistent-missing-override",
  ] + cflags + ccflags_asan,

  CPPPATH=cpppath + [
@@ -113,11 +117,9 @@ 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 +177,9 @@ 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')
+zmq = 'zmq'
+Export('env', 'arch', 'zmq', 'SHARED', 'webcam')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -196,7 +197,7 @@ 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 +216,7 @@ 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'])
@@ -222,12 +224,12 @@ SConscript(['selfdrive/proclogd/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])

+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/models/SConscript'])
+
 if arch == "aarch64":
  SConscript(['selfdrive/logcatd/SConscript'])
  SConscript(['selfdrive/sensord/SConscript'])
  SConscript(['selfdrive/clocksd/SConscript'])
-
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/locationd/kalman/SConscript'])
-
-# TODO: finish cereal, dbcbuilder, MPC
+else:
+  SConscript(['tools/lib/index_log/SConscript'])
@@ -11,6 +11,9 @@ jobs:
    - uses: actions/checkout@v2
    - name: Build docker image
      run: docker build -t cereal .
+    - name: Static analysis
+      run: |
+        docker run cereal bash -c "git init && git add -A && pre-commit run --all"
    - name: Unit Tests
      run: |
        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
@@ -20,4 +23,3 @@ jobs:
    - name: Test MSGQ
      run: |
        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
-
@@ -11,4 +11,4 @@ libmessaging_shared.*
 services.h
 .sconsign.dblite
 libcereal_shared.*
-
+.mypy_cache/
@@ -0,0 +1,27 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: master
+    hooks:
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: master
+    hooks:
+    -   id: mypy
+-   repo: https://github.com/PyCQA/flake8
+    rev: master
+    hooks:
+    -   id: flake8
+        args:
+        - --select=F
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        args:
+        - --disable=R,C,W
@@ -1,19 +1,18 @@
-from ubuntu:16.04
+FROM ubuntu:16.04

-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl

 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 RUN pyenv install 3.7.3
 RUN pyenv global 3.7.3
 RUN pyenv rehash
-RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4
+RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4 pre-commit==2.4.0 pylint==2.5.2

 WORKDIR /project/cereal
-COPY install_capnp.sh .
-RUN ./install_capnp.sh

 ENV PYTHONPATH=/project

 COPY . .
+RUN rm -rf .git
 RUN scons -c && scons -j$(nproc)
@@ -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 +18,13 @@ 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++',
+    'messaging/socketmaster.cc',
  ])

 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(
@@ -49,8 +44,10 @@ Depends('messaging/impl_zmq.cc', services_h)

 # note, this rebuilds the deps shared, zmq is statically linked to make APK happy
 # TODO: get APK to load system zmq to remove the static link
-shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
-env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
+if arch == "aarch64":
+  zmq_static = FindFile("libzmq.a", "/usr/lib")
+  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared"]
+  env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)

 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)
@@ -1,3 +1,4 @@
+# pylint: skip-file
 import os
 import capnp

@@ -13,12 +13,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  name @0 :EventName;
  enable @1 :Bool;
  noEntry @2 :Bool;
-  warning @3 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
  userDisable @4 :Bool;
  softDisable @5 :Bool;
  immediateDisable @6 :Bool;
  preEnable @7 :Bool;
-  permanent @8 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state

  enum EventName @0xbaa8c5d505f727de {
    # TODO: copy from error list
@@ -38,7 +38,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    pedalPressed @13;
    cruiseDisabled @14;
    radarCanError @15;
-    dataNeeded @16;
+    dataNeededDEPRECATED @16;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
@@ -55,23 +55,23 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    manualRestart @30;
    lowSpeedLockout @31;
    plannerError @32;
-    ipasOverride @33;
+    ipasOverrideDEPRECATED @33;
    debugAlert @34;
    steerTempUnavailableMute @35;
    resumeRequired @36;
    preDriverDistracted @37;
    promptDriverDistracted @38;
    driverDistracted @39;
-    geofence @40;
-    driverMonitorOn @41;
-    driverMonitorOff @42;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
    preDriverUnresponsive @43;
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
    belowSteerSpeed @46;
-    calibrationProgress @47;
+    calibrationProgressDEPRECATED @47;
    lowBattery @48;
-    invalidGiraffeHonda @49;
+    invalidGiraffeHondaDEPRECATED @49;
    vehicleModelInvalid @50;
    controlsFailed @51;
    sensorDataInvalid @52;
@@ -91,6 +91,22 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    carUnrecognized @66;
    radarCommIssue @67;
    driverMonitorLowAcc @68;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlockedDEPRECATED @71;
+    relayMalfunction @72;
+    gasPressed @73;
+    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupMaster @78;
+    fcw @79;
+    steerSaturated @80;
+    whitePandaUnsupported @81;
+    startupWhitePanda @82;
+    canErrorPersistent @83;
+    belowEngageSpeed @84;
  }
 }

@@ -119,12 +135,14 @@ 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;
@@ -151,7 +169,7 @@ 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
@@ -309,6 +327,7 @@ struct CarControl {
      chimeWarning2 @5;
      chimeWarningRepeat @6;
      chimePrompt @7;
+      chimeWarning2Repeat @8;
    }
  }
 }
@@ -379,6 +398,7 @@ 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);
@@ -456,8 +476,9 @@ 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 {
@@ -496,4 +517,9 @@ struct CarParams {
    fw @1;
    fixed @2;
  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
 }
@@ -10,31 +10,3 @@ CXXFLAGS="-fPIC" ./configure

 make -j$(nproc)
 make install
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j$(nproc)
-make install
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib
@@ -129,6 +129,7 @@ struct FrameData {
  gainFrac @15 :Float32;
  focusVal @16 :List(Int16);
  focusConf @17 :List(UInt8);
+  sharpnessScore @18 :List(UInt16);

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
@@ -352,6 +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 {
@@ -805,7 +825,7 @@ struct PathPlan {

 struct LiveLocationKalman {

-  # More info on reference frames: 
+  # More info on reference frames:
  # https://github.com/commaai/openpilot/tree/master/common/transformations

  positionECEF @0 : Measurement;
@@ -821,10 +841,10 @@ struct LiveLocationKalman {
  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;
@@ -835,7 +855,10 @@ struct LiveLocationKalman {
  gpsTimeOfWeek @14 :Float64;
  status @15 :Status;
  unixTimestampMillis @16 :Int64;
-  
+  inputsOK @17 :Bool = true;
+  posenetOK @18 :Bool = true;
+  gpsOK @19 :Bool = true;
+
  enum Status {
    uninitialized @0;
    uncalibrated @1;
@@ -1775,12 +1798,14 @@ 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;
  }
 }

@@ -1879,6 +1904,7 @@ struct DMonitoringState {
  awarenessPassive @12 :Float32;
  isLowStd @13 :Bool;
  hiStdCount @14 :UInt32;
+  isPreview @15 :Bool;
 }

 struct Boot {
@@ -1971,7 +1997,7 @@ 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;
@@ -155,7 +155,7 @@ class SubMaster():

      try:
        data = new_message(s)
-      except capnp.lib.capnp.KjException:
+      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
        # lists
        data = new_message(s, 0)

@@ -143,7 +143,11 @@ int MSGQPubSocket::connect(Context *context, std::string endpoint){
  assert(context);

  q = new msgq_queue_t;
-  msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  if (r != 0){
+    return r;
+  }
+
  msgq_init_publisher(q);

  return 0;
@@ -2,9 +2,15 @@
 #include "impl_zmq.hpp"
 #include "impl_msgq.hpp"

+#ifdef __APPLE__
+const bool MUST_USE_ZMQ = true;
+#else
+const bool MUST_USE_ZMQ = false;
+#endif
+
 Context * Context::create(){
  Context * c;
-  if (std::getenv("ZMQ")){
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
    c = new ZMQContext();
  } else {
    c = new MSGQContext();
@@ -14,7 +20,7 @@ Context * Context::create(){

 SubSocket * SubSocket::create(){
  SubSocket * s;
-  if (std::getenv("ZMQ")){
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
    s = new ZMQSubSocket();
  } else {
    s = new MSGQSubSocket();
@@ -60,7 +66,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri

 PubSocket * PubSocket::create(){
  PubSocket * s;
-  if (std::getenv("ZMQ")){
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
    s = new ZMQPubSocket();
  } else {
    s = new MSGQPubSocket();
@@ -82,7 +88,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){

 Poller * Poller::create(){
  Poller * p;
-  if (std::getenv("ZMQ")){
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
    p = new ZMQPoller();
  } else {
    p = new MSGQPoller();
@@ -1,7 +1,10 @@
 #pragma once
 #include <cstddef>
-#include <vector>
+#include <map>
 #include <string>
+#include <vector>
+#include <capnp/serialize.h>
+#include "../gen/cpp/log.capnp.h"

 #define MSG_MULTIPLE_PUBLISHERS 100

@@ -54,3 +57,36 @@ public:
  static Poller * create(std::vector<SubSocket*> sockets);
  virtual ~Poller(){};
 };
+
+class SubMaster {
+ public:
+  SubMaster(const std::initializer_list<const char *> &service_list,
+            const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
+  int update(int timeout = 1000);
+  inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
+  bool updated(const char *name) const;
+  void drain();
+  cereal::Event::Reader &operator[](const char *name);
+  ~SubMaster();
+
+ private:
+  bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
+  Poller *poller_ = nullptr;
+  uint64_t frame_ = 0;
+  struct SubMessage;
+  std::map<SubSocket *, SubMessage *> messages_;
+  std::map<std::string, SubMessage *> services_;
+};
+
+class PubMaster {
+ public:
+  PubMaster(const std::initializer_list<const char *> &service_list);
+  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
+  int send(const char *name, capnp::MessageBuilder &msg);
+  ~PubMaster();
+
+ private:
+  std::map<std::string, PubSocket *> sockets_;
+};
@@ -30,11 +30,12 @@ class BuildExtWithoutPlatformSuffix(build_ext):


 sourcefiles = ['messaging_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 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']

@@ -90,8 +90,10 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
  auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
  delete[] full_path;

-  if (fd < 0)
+  if (fd < 0) {
+    std::cout << "Warning, could not open: " << full_path << std::endl;
    return -1;
+  }

  int rc = ftruncate(fd, size + sizeof(msgq_header_t));
  if (rc < 0)
@@ -0,0 +1,162 @@
+#include <assert.h>
+#include <time.h>
+#include "messaging.hpp"
+#include "services.h"
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+static inline uint64_t nanos_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000000000ULL + t.tv_nsec;
+}
+static const service *get_service(const char *name) {
+  for (const auto &it : services) {
+    if (strcmp(it.name, name) == 0) return &it;
+  }
+  return nullptr;
+}
+static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
+  for (auto &v : list) {
+    if (strcmp(value, v) == 0) return true;
+  }
+  return false;
+}
+
+class MessageContext {
+ public:
+  MessageContext() { ctx_ = Context::create(); }
+  ~MessageContext() { delete ctx_; }
+  Context *ctx_;
+};
+MessageContext ctx;
+
+struct SubMaster::SubMessage {
+  std::string name;
+  SubSocket *socket = nullptr;
+  int freq = 0;
+  bool updated = false, alive = false, valid = false, ignore_alive;
+  uint64_t rcv_time = 0, rcv_frame = 0;
+  void *allocated_msg_reader = nullptr;
+  capnp::FlatArrayMessageReader *msg_reader = nullptr;
+  kj::Array<capnp::word> buf;
+  cereal::Event::Reader event;
+};
+
+SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
+                     const std::initializer_list<const char *> &ignore_alive) {
+  poller_ = Poller::create();
+  for (auto name : service_list) {
+    const service *serv = get_service(name);
+    assert(serv != nullptr);
+    SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
+    assert(socket != 0);
+    poller_->registerSocket(socket);
+    SubMessage *m = new SubMessage{
+        .socket = socket,
+        .freq = serv->frequency,
+        .ignore_alive = inList(ignore_alive, name),
+        .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
+        .buf = kj::heapArray<capnp::word>(1024)};
+    messages_[socket] = m;
+    services_[name] = m;
+  }
+}
+
+int SubMaster::update(int timeout) {
+  if (++frame_ == UINT64_MAX) frame_ = 1;
+  for (auto &kv : messages_) kv.second->updated = false;
+
+  int updated = 0;
+  auto sockets = poller_->poll(timeout);
+  uint64_t current_time = nanos_since_boot();
+  for (auto s : sockets) {
+    Message *msg = s->receive(true);
+    if (msg == nullptr) continue;
+
+    SubMessage *m = messages_.at(s);
+    const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
+    if (m->buf.size() < size) {
+      m->buf = kj::heapArray<capnp::word>(size);
+    }
+    memcpy(m->buf.begin(), msg->getData(), msg->getSize());
+    delete msg;
+
+    if (m->msg_reader) {
+      m->msg_reader->~FlatArrayMessageReader();
+    }
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
+    m->event = m->msg_reader->getRoot<cereal::Event>();
+    m->updated = true;
+    m->rcv_time = current_time;
+    m->rcv_frame = frame_;
+    m->valid = m->event.getValid();
+
+    ++updated;
+  }
+
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+  }
+  return updated;
+}
+
+bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
+  int found = 0;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
+      found += (!valid || m->valid) && (!alive || (m->alive && !m->ignore_alive));
+    }
+  }
+  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
+}
+
+void SubMaster::drain() {
+  while (true) {
+    auto polls = poller_->poll(0);
+    if (polls.size() == 0)
+      break;
+
+    for (auto sock : polls) {
+      Message *msg = sock->receive(true);
+      delete msg;
+    }
+  }
+}
+
+bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
+cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
+
+SubMaster::~SubMaster() {
+  delete poller_;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    if (m->msg_reader) {
+      m->msg_reader->~FlatArrayMessageReader();
+    }
+    free(m->allocated_msg_reader);
+    delete m->socket;
+    delete m;
+  }
+}
+
+PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
+  for (auto name : service_list) {
+    assert(get_service(name) != nullptr);
+    PubSocket *socket = PubSocket::create(ctx.ctx_, name);
+    assert(socket);
+    sockets_[name] = socket;
+  }
+}
+
+int PubMaster::send(const char *name, capnp::MessageBuilder &msg) {
+  auto words = capnp::messageToFlatArray(msg);
+  auto bytes = words.asBytes();
+  return send(name, bytes.begin(), bytes.size());
+}
+
+PubMaster::~PubMaster() {
+  for (auto s : sockets_) delete s.second;
+}
@@ -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 +1,8 @@
+comment: false
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
@@ -22,10 +22,10 @@ def get_imei(slot):
  if slot not in ("0", "1"):
    raise ValueError("SIM slot must be 0 or 1")

-  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" ,"i32", str(slot)]))
+  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" , "i32", str(slot)]))
  if not ret:
    # allow non android to be identified differently
-    ret = "%015d" % random.randint(0, 1<<32)
+    ret = "%015d" % random.randint(0, 1 << 32)
  return ret

 def get_serial():
@@ -132,11 +132,10 @@ def get_network_type():

 def get_network_strength(network_type):
  network_strength = NetworkStrength.unknown
+
  # from SignalStrength.java
  def get_lte_level(rsrp, rssnr):
    INT_MAX = 2147483647
-    lvl_rsrp = NetworkStrength.unknown
-    lvl_rssnr = NetworkStrength.unknown
    if rsrp == INT_MAX:
      lvl_rsrp = NetworkStrength.unknown
    elif rsrp >= -95:
@@ -174,7 +173,6 @@ def get_network_strength(network_type):
    return lvl

  def get_gsm_level(asu):
-    lvl = NetworkStrength.unknown
    if asu <= 2 or asu == 99:
      lvl = NetworkStrength.unknown
    elif asu >= 12:
@@ -232,7 +230,7 @@ def get_network_strength(network_type):
  if network_type == NetworkType.none:
    return network_strength
  if network_type == NetworkType.wifi:
-    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('ascii')
+    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
    network_strength = NetworkStrength.unknown
    for line in out.split('\n'):
      signal_str = "SignalStrength: "
@@ -251,7 +249,7 @@ def get_network_strength(network_type):
    return network_strength
  else:
    # check cell strength
-    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('ascii')
+    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(' ')
@@ -39,4 +39,3 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  headers['User-Agent'] = "openpilot-" + version

  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
-
@@ -13,7 +13,7 @@ def get_installed_apks():
  ret = {}
  for x in dat:
    if x.startswith("package:"):
-      v,k = x.split("package:")[1].split("=")
+      v, k = x.split("package:")[1].split("=")
      ret[k] = v
  return ret

@@ -8,4 +8,3 @@ if ANDROID:
 else:
  PERSIST = os.path.join(BASEDIR, "persist")
  PARAMS = os.path.join(BASEDIR, "persist", "params")
-
@@ -44,7 +44,8 @@ class AutoMoveTempdir():
  def close(self):
    os.rename(self._path, self._target_path)

-  def __enter__(self): return self
+  def __enter__(self):
+    return self

  def __exit__(self, type, value, traceback):
    if type is None:
@@ -63,7 +64,8 @@ class NamedTemporaryDir():
  def close(self):
    shutil.rmtree(self._path)

-  def __enter__(self): return self
+  def __enter__(self):
+    return self

  def __exit__(self, type, value, traceback):
    self.close()
@@ -6,5 +6,4 @@ class FirstOrderFilter():

  def update(self, x):
    self.x = (1. - self.k) * self.x + self.k * x
-
-
+    return self.x
@@ -68,8 +68,11 @@ class SwagErrorFilter(logging.Filter):
  def filter(self, record):
    return record.levelno < logging.ERROR

-_tmpfunc = lambda: 0
-_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+def _tmpfunc():
+  return 0
+
+def _srcfile():
+  return os.path.normcase(_tmpfunc.__code__.co_filename)

 class SwagLogger(logging.Logger):
  def __init__(self):
@@ -6,13 +6,13 @@ def print_cpu_usage(first_proc, last_proc):
  r = 0
  procs = [
      ("selfdrive.controls.controlsd", 59.46),
-      ("./_modeld", 48.94),
+      ("./_modeld", 6.75),
      ("./loggerd", 28.49),
      ("selfdrive.controls.plannerd", 19.77),
      ("selfdrive.controls.radard", 9.54),
      ("./_ui", 9.54),
      ("./camerad", 7.07),
-      ("selfdrive.locationd.locationd", 7.13),
+      ("selfdrive.locationd.locationd", 27.46),
      ("./_sensord", 6.17),
      ("selfdrive.controls.dmonitoringd", 5.48),
      ("./boardd", 3.63),
@@ -6,6 +6,7 @@ def clip(x, lo, hi):

 def interp(x, xp, fp):
  N = len(xp)
+
  def get_interp(xv):
    hi = 0
    while hi < N and xv > xp[hi]:
@@ -14,8 +15,8 @@ def interp(x, xp, fp):
    return fp[-1] if hi == N and xv > xp[low] else (
      fp[0] if hi == 0 else
      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
-  return [get_interp(v) for v in x] if hasattr(
-    x, '__iter__') else get_interp(x)
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)

 def mean(x):
  return sum(x) / len(x)
@@ -22,10 +22,7 @@ file in place without messing with <params_dir>/d.
 """
 import time
 import os
-import string
-import binascii
 import errno
-import sys
 import shutil
 import fcntl
 import tempfile
@@ -52,7 +49,7 @@ 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],
@@ -70,6 +67,7 @@ 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],
@@ -78,6 +76,7 @@ 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],
@@ -196,7 +195,8 @@ class DBReader(DBAccessor):
    finally:
      lock.release()

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


 class DBWriter(DBAccessor):
@@ -399,22 +399,3 @@ def put_nonblocking(key, val):
  t = threading.Thread(target=f, args=(key, val))
  t.start()
  return t
-
-
-if __name__ == "__main__":
-  params = Params()
-  if len(sys.argv) > 2:
-    params.put(sys.argv[1], sys.argv[2])
-  else:
-    for k in keys:
-      pp = params.get(k)
-      if pp is None:
-        print("%s is None" % k)
-      elif all(chr(c) in string.printable for c in pp):
-        print("%s = %s" % (k, pp))
-      else:
-        print("%s = %s" % (k, binascii.hexlify(pp)))
-
-  # Test multiprocess:
-  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
-  # while python common/params.py DongleId; do sleep 0.05; done
@@ -39,8 +39,7 @@ 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))
-
@@ -40,7 +40,7 @@ class Spinner():
    self.close()


-class FakeSpinner():
+class FakeSpinner(Spinner):
  def __init__(self):
    pass

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

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

@@ -32,7 +32,7 @@ class RunningStat():
      self.S_last = 0.
    else:
      self.M = self.M_last + (new_data - self.M_last) / self.n
-      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M);
+      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
      self.M_last = self.M
      self.S_last = self.S

@@ -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):
@@ -64,7 +64,7 @@ class RunningStatFilter():
    _std_last = self.raw_stat.std()
    self.raw_stat.push_data(new_data)
    _delta_std = self.raw_stat.std() - _std_last
-    if _delta_std<=0:
+    if _delta_std <= 0:
      self.filtered_stat.push_data(new_data)
    else:
      pass
@@ -6,4 +6,3 @@ def phone_only(x):
    return x
  else:
    return nottest(x)
-
@@ -0,0 +1,86 @@
+#!/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(TextWindow):
+  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 close(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")
@@ -25,4 +25,3 @@ class Timeout:

  def __exit__(self, exc_type, exc_val, exc_tb):
    signal.alarm(0)
-
@@ -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]
@@ -60,7 +59,7 @@ def vp_from_ke(m):

  The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
  """
-  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
+  return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])


 def vp_from_rpy(rpy):
@@ -82,10 +81,10 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
  img_pts = np.array(img_pts)
  input_shape = img_pts.shape
  img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
  img_pts_normalized = img_pts.dot(intrinsics_inv.T)
  img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
-  return img_pts_normalized[:,:2].reshape(input_shape)
+  return img_pts_normalized[:, :2].reshape(input_shape)


 def denormalize(img_pts, intrinsics=eon_intrinsics):
@@ -94,13 +93,13 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
  img_pts = np.array(img_pts)
  input_shape = img_pts.shape
  img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
  img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
-  return img_pts_denormalized[:,:2].reshape(input_shape)
+  img_pts_denormalized[img_pts_denormalized[:, 0] > W] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] > H] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
+  return img_pts_denormalized[:, :2].reshape(input_shape)


 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
@@ -125,10 +124,10 @@ def img_from_device(pt_device):
  pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)

  # This function should never return negative depths
-  pt_view[pt_view[:,2] < 0] = np.nan
+  pt_view[pt_view[:, 2] < 0] = np.nan

-  pt_img = pt_view/pt_view[:,2:3]
-  return pt_img.reshape(input_shape)[:,:2]
+  pt_img = pt_view/pt_view[:, 2:3]
+  return pt_img.reshape(input_shape)[:, :2]


 def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
@@ -146,82 +145,3 @@ def pretransform_from_calib(calib):
  camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
  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)
@@ -18,9 +18,9 @@ def geodetic2ecef(geodetic, radians=False):
  geodetic = np.atleast_2d(geodetic)

  ratio = 1.0 if radians else (np.pi / 180.0)
-  lat = ratio*geodetic[:,0]
-  lon = ratio*geodetic[:,1]
-  alt = geodetic[:,2]
+  lat = ratio*geodetic[:, 0]
+  lon = ratio*geodetic[:, 1]
+  alt = geodetic[:, 2]

  xi = np.sqrt(1 - esq * np.sin(lat)**2)
  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
@@ -52,7 +52,7 @@ def ecef2geodetic(ecef, radians=False):
  S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
  P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
  Q = np.sqrt(1 + 2 * esq * esq * P)
-  r_0 =  -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
        P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
  U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
  V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
@@ -78,6 +78,8 @@ class LocalCoord():
                                     [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
                                     [np.cos(lat), 0, -np.sin(lat)]])
    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+    self.ecef_from_ned_matrix = self.ned2ecef_matrix
+    self.ned_from_ecef_matrix = self.ecef2ned_matrix

  @classmethod
  def from_geodetic(cls, init_geodetic):
@@ -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):
@@ -138,9 +130,9 @@ def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):

 def get_model_frame(snu_full, camera_frame_from_model_frame, size):
  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
-                                                            np.tile(np.arange(size[1]), (size[0],1)).T.flatten(),
+                                                            np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
-  calib_flat = snu_full[idxs[:,1], idxs[:,0]]
+  calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
  if len(snu_full.shape) == 3:
    calib = calib_flat.reshape((size[1], size[0], 3))
  elif len(snu_full.shape) == 2:
@@ -13,11 +13,11 @@ Supports both x2y and y_from_x format (y_from_x preferred!).
 def euler2quat(eulers):
  eulers = array(eulers)
  if len(eulers.shape) > 1:
-    output_shape = (-1,4)
+    output_shape = (-1, 4)
  else:
    output_shape = (4,)
  eulers = np.atleast_2d(eulers)
-  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
+  gamma, theta, psi = eulers[:, 0],  eulers[:, 1],  eulers[:, 2]

  q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
       np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
@@ -30,7 +30,7 @@ def euler2quat(eulers):

  quats = array([q0, q1, q2, q3]).T
  for i in range(len(quats)):
-    if quats[i,0] < 0:
+    if quats[i, 0] < 0:
      quats[i] = -quats[i]
  return quats.reshape(output_shape)

@@ -38,11 +38,11 @@ def euler2quat(eulers):
 def quat2euler(quats):
  quats = array(quats)
  if len(quats.shape) > 1:
-    output_shape = (-1,3)
+    output_shape = (-1, 3)
  else:
    output_shape = (3,)
  quats = np.atleast_2d(quats)
-  q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
+  q0, q1, q2, q3 = quats[:, 0], quats[:, 1], quats[:, 2], quats[:, 3]

  gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
  theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
@@ -101,7 +101,7 @@ def rot2quat(rots):
  q = np.empty((len(rots), 4))
  for i in range(len(rots)):
    _, eigvecs = linalg.eigh(K3[i].T)
-    eigvecs = eigvecs[:,3:]
+    eigvecs = eigvecs[:, 3:]
    q[i, 0] = eigvecs[-1]
    q[i, 1:] = -eigvecs[:-1].flatten()
    if q[i, 0] < 0:
@@ -124,8 +124,8 @@ def rot2euler(rots):
 quats_from_rotations = rot2quat
 quat_from_rot = rot2quat
 rotations_from_quats = quat2rot
-rot_from_quat= quat2rot
-rot_from_quat= quat2rot
+rot_from_quat = quat2rot
+rot_from_quat = quat2rot
 euler_from_rot = rot2euler
 euler_from_quat = quat2euler
 rot_from_euler = euler2rot
@@ -154,9 +154,9 @@ def rot_matrix(roll, pitch, yaw):
  cr, sr = np.cos(roll), np.sin(roll)
  cp, sp = np.cos(pitch), np.sin(pitch)
  cy, sy = np.cos(yaw), np.sin(yaw)
-  rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
-  rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
-  ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
+  rr = array([[1, 0, 0], [0, cr, -sr], [0, sr, cr]])
+  rp = array([[cp, 0, sp], [0, 1, 0], [-sp, 0, cp]])
+  ry = array([[cy, -sy, 0], [sy, cy, 0], [0, 0, 1]])
  return ry.dot(rp.dot(rr))


@@ -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})")
@@ -0,0 +1,7 @@
+{
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a-kernel.zip",
+  "ota_hash": "3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
+  "recovery_len": 15861036,
+  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
+}
@@ -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
@@ -77,6 +83,10 @@ function launch {
    fi

    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+  else
+      if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
+          "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
+      fi
  fi


@@ -0,0 +1,17 @@
+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)"
+  javascript:
+    index:
+      filters:
+      - exclude: "*"
@@ -12,6 +12,9 @@ jobs:
          set -e
          docker build -t opendbc .
        name: "Build"
+      - name: Static analysis
+        run: |
+          docker run opendbc bash -c "cd opendbc && git init && git add -A && pre-commit run --all"
      - run: |
          docker run opendbc bash -c "python -m unittest discover opendbc"
        name: "Unit tests"
@@ -1,3 +1,4 @@
+.mypy_cache/
 *.pyc
 *.os
 *.tmp
@@ -0,0 +1,27 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: master
+    hooks:
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: master
+    hooks:
+    -   id: mypy
+-   repo: https://github.com/PyCQA/flake8
+    rev: master
+    hooks:
+    -   id: flake8
+        args:
+        - --select=F
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        args:
+        - --disable=R,C,W
@@ -1,6 +1,6 @@
 from ubuntu:16.04

-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl

 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
@@ -10,16 +10,16 @@ RUN pyenv rehash

 COPY requirements.txt /tmp/
 RUN pip install -r /tmp/requirements.txt
+RUN pip install pre-commit==2.4.0 pylint==2.5.2

 ENV PYTHONPATH=/project

+WORKDIR /project
 # TODO: Add tag to cereal
 RUN git clone https://github.com/commaai/cereal.git /project/cereal
-RUN /project/cereal/install_capnp.sh
-
-WORKDIR /project

 COPY SConstruct .
 COPY . /project/opendbc

+RUN rm -rf /project/opendbc/.git
 RUN scons -c && scons -j$(nproc)
@@ -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" ;
@@ -1,2 +1,2 @@
-from opendbc.can.parser_pyx import CANDefine # pylint: disable=no-name-in-module, import-error
+from opendbc.can.parser_pyx import CANDefine  # pylint: disable=no-name-in-module, import-error
 assert CANDefine
@@ -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];

@@ -106,6 +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 {
@@ -55,7 +55,7 @@ class dbc():

        name = dat.group(2)
        size = int(dat.group(3))
-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
        if ids in self.msgs:
          sys.exit("Duplicate address detected %d %s" % (ids, self.name))

@@ -73,15 +73,15 @@ class dbc():
          print("bad SG {0}".format(l))

        sgname = dat.group(1)
-        start_bit = int(dat.group(go+2))
-        signal_size = int(dat.group(go+3))
-        is_little_endian = int(dat.group(go+4))==1
-        is_signed = dat.group(go+5)=='-'
-        factor = int_or_float(dat.group(go+6))
-        offset = int_or_float(dat.group(go+7))
-        tmin = int_or_float(dat.group(go+8))
-        tmax = int_or_float(dat.group(go+9))
-        units = dat.group(go+10)
+        start_bit = int(dat.group(go + 2))
+        signal_size = int(dat.group(go + 3))
+        is_little_endian = int(dat.group(go + 4)) == 1
+        is_signed = dat.group(go + 5) == '-'
+        factor = int_or_float(dat.group(go + 6))
+        offset = int_or_float(dat.group(go + 7))
+        tmin = int_or_float(dat.group(go + 8))
+        tmax = int_or_float(dat.group(go + 9))
+        units = dat.group(go + 10)

        self.msgs[ids][1].append(
          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
@@ -94,15 +94,15 @@ class dbc():
        if dat is None:
          print("bad VAL {0}".format(l))

-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
        sgname = dat.group(2)
        defvals = dat.group(3)

-        defvals = defvals.replace("?",r"\?") #escape sequence in C++
+        defvals = defvals.replace("?", r"\?")  # escape sequence in C++
        defvals = defvals.split('"')[:-1]

        # convert strings to UPPER_CASE_WITH_UNDERSCORES
-        defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
+        defvals[1::2] = [d.strip().upper().replace(" ", "_") for d in defvals[1::2]]
        defvals = '"'+"".join(str(i) for i in defvals)+'"'

        self.def_vals[ids].append((sgname, defvals))
@@ -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");
    }
@@ -33,7 +33,7 @@ class BuildExtWithoutPlatformSuffix(build_ext):


 sourcefiles = ['packer_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg

 if ARCH == "aarch64":
@@ -54,7 +54,7 @@ setup(name='CAN packer',
          extra_compile_args=extra_compile_args,
          include_dirs=[
            BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+            os.path.join(BASEDIR, 'phonelibs'),
          ],
          extra_link_args=[
            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
@@ -66,4 +66,3 @@ setup(name='CAN packer',

 if platform.system() == "Darwin":
  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib packer_pyx.so")
-
@@ -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);
@@ -33,7 +33,7 @@ class BuildExtWithoutPlatformSuffix(build_ext):


 sourcefiles = ['parser_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg

 if ARCH == "aarch64":
@@ -54,7 +54,7 @@ setup(name='CAN parser',
          extra_compile_args=extra_compile_args,
          include_dirs=[
            BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+            os.path.join(BASEDIR, 'phonelibs'),
          ],
          extra_link_args=[
            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
@@ -66,4 +66,3 @@ setup(name='CAN parser',

 if platform.system() == "Darwin":
  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib parser_pyx.so")
-
@@ -19,10 +19,11 @@ def process(in_fn, out_fn):

  can_dbc = dbc(in_fn)

-  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
+  # process counter and checksums first
+  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM")))
          for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]

-  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()} # remove duplicates
+  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()}  # remove duplicates
  def_vals = sorted(def_vals.items())

  if can_dbc.name.startswith(("honda_", "acura_")):
@@ -46,6 +47,20 @@ def process(in_fn, out_fn):
    checksum_start_bit = 0
    counter_start_bit = 0
    little_endian = True
+  elif can_dbc.name.startswith(("subaru_global_")):
+    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
@@ -109,4 +124,3 @@ def main():

 if __name__ == '__main__':
  main()
-
@@ -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
@@ -178,7 +186,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -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";
@@ -60,9 +60,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 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
@@ -125,10 +128,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -282,6 +286,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -3,7 +3,6 @@ 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
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
@@ -12,6 +11,9 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX

 BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
@@ -32,126 +32,124 @@ NS_ :
    SG_MUL_VAL_

 BS_: 
-BU_: K16_BECM K114B_HPCM T18_BatteryCharger
-
+BU_: K16_BECM K114B_HPCM T18_BatteryCharger 
 BO_ 512 Battery_Module_1: 8 K16_BECM
-   SG_ Voltage_1_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_1 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+   SG_ Voltage_1_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_1 M : 55|3@0+ (1,0) [0|0] "" K16_BECM

 BO_ 514 Battery_Module_2: 8 K16_BECM
-   SG_ Voltage_2_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_2 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+   SG_ Voltage_2_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_2 M : 55|3@0+ (1,0) [0|0] "" K16_BECM

 BO_ 516 Battery_Module_3: 8 K16_BECM
-   SG_ Voltage_3_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_3 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+   SG_ Voltage_3_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_3 M : 55|3@0+ (1,0) [0|0] "" K16_BECM

 BO_ 518 Battery_Module_4: 8 K16_BECM
-   SG_ Voltage_4_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_4 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+   SG_ Voltage_4_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_4 M : 55|3@0+ (1,0) [0|0] "" K16_BECM

 BO_ 528 Pack_Stats: 8 K16_BECM
   SG_ Pack_Voltage : 7|12@0+ (0.125,0) [0|0] "V" K16_BECM
-   SG_ Pack_Amps : 9|10@0+ (0.1,0) [0|0] "" K16_BECM
-   SG_ Pack_Amps2 : 28|12@0+ (0.05,0) [0|0] "" K16_BECM
+   SG_ Pack_Current : 23|8@0- (0.15,0) [0|0] "A" K16_BECM

 BO_ 530 Charger_stats: 6 T18_BatteryCharger
-   SG_ Charger_HV_Current : 0|13@1+ (0.05,0) [0|0] "A" K16_BECM
-   SG_ HV_Voltage : 13|10@1+ (0.5,0) [0|0] "V" K16_BECM
+   SG_ Charger_HV_Current : 0|10@1+ (0.05,0) [0|0] "A" K16_BECM
+   SG_ HV_Voltage : 10|10@1+ (0.5,0) [0|0] "V" K16_BECM
   SG_ LV_Current : 23|8@1+ (0.2,0) [0|0] "A" K16_BECM
-   SG_ LV_Voltage : 31|10@1- (0.025,0) [0|0] "V" K16_BECM
+   SG_ LV_Voltage : 31|10@1+ (0.025,0) [0|0] "V" K16_BECM

 BO_ 770 Battery_temp: 8 K16_BECM
   SG_ Temp_A m0 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM
@@ -165,6 +163,26 @@ BO_ 770 Battery_temp: 8 K16_BECM
   SG_ Temp_I m1 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM
   SG_ Switch M : 2|1@1+ (1,0) [0|0] "" K16_BECM

+BO_ 782 Charger_Command: 1 T18_BatteryCharger
+   SG_ Command : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 772 Charger_parameters: 4 T18_BatteryCharger
+   SG_ Unknown : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+   SG_ Current : 8|8@1+ (0.05,0) [0|0] "A" Vector__XXX
+   SG_ Voltage : 23|16@0+ (0.5,0) [0|0] "V" Vector__XXX
+
+BO_ 1120 Coolant_Temp: 4 K16_BECM
+   SG_ Coolant_Temp : 7|16@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 778 AC_Stats: 7 T18_BatteryCharger
+   SG_ Mains_Voltage : 0|12@1+ (0.1,0) [0|0] "V" Vector__XXX
+   SG_ Total_Charge : 19|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 776 Charger_unknown: 5 T18_BatteryCharger
+   SG_ Bit_20 : 20|1@1+ (1,0) [0|0] "" Vector__XXX
+   SG_ Bit_21 : 21|1@1+ (1,0) [0|0] "" Vector__XXX
+   SG_ Bit_22 : 22|1@1+ (1,0) [0|0] "" Vector__XXX
+
 BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ;
 BA_DEF_ BO_ "GenMsgForegroundColor" STRING ;
 BA_DEF_ BO_ "isj1939dbc" INT 0 0;
@@ -173,4 +191,5 @@ BA_DEF_DEF_ "GenMsgForegroundColor" "#000000";
 BA_DEF_DEF_ "isj1939dbc" 0;
 CM_ BU_ K16_BECM "Battery Energy Control Module";
 CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
-CM_ BU_ T18_BatteryCharger "Battery Charger";
+CM_ BU_ T18_BatteryCharger "Battery Charger";
+VAL_ 782 Command 1 "12V_Only" 2 "HV_Only" 3 "12V_and_HV";
@@ -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

@@ -0,0 +1,56 @@
+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_: K1_APM
+BO_ 470 APM_Stats: 7 K1_APM
+   SG_ APM_Low_Voltage_Sensed : 16|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX
+   SG_ APM_Temperature_1 : 24|8@1+ (1,-40) [0|0] "C" Vector__XXX
+   SG_ APM_Temperature_2 : 32|8@1+ (1,-40) [0|0] "C" Vector__XXX
+   SG_ APM_Low_Voltage_Current_Output : 40|8@1- (1,0) [0|0] "A" Vector__XXX
+   SG_ APM_Status : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+   SG_ APM_High_Voltage_Input_Current : 8|8@1- (0.15,-7) [0|0] "A" Vector__XXX
+   SG_ APM_Counter : 48|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 468 APM_Command: 2 K1_APM
+   SG_ APM_Status : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+   SG_ APM_Voltage_Requested : 8|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX
+
+BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ;
+BA_DEF_ BO_ "GenMsgForegroundColor" STRING ;
+BA_DEF_ BO_ "isj1939dbc" INT 0 0;
+BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff";
+BA_DEF_DEF_ "GenMsgForegroundColor" "#000000";
+BA_DEF_DEF_ "isj1939dbc" 0;
+CM_ BU_ K1_APM "14V Power Module";
+VAL_ 468 APM_Status 0 "Off" 160 "On";
@@ -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
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -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
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -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
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -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
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -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
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -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
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -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
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -990,6 +990,8 @@ BO_ 1342 LKAS12: 6 LDWS_LKAS
 SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
 SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
 SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU
+ SG_ CF_Lkas_Daw_USM : 39|3@1+ (1,0) [0|7] "" CLU

 BO_ 1338 TMU_GW_E_01: 8 CLU
 SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
@@ -1159,27 +1161,27 @@ BO_ 1314 GW_IPM_PE_1: 8 BCM
 SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU

 BO_ 1057 SCC12: 8 SCC
- SG_ CF_VSM_Prefill : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CF_VSM_DecCmdAct : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CF_VSM_HBACmd : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  ESC
- SG_ CF_VSM_Warn : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IAP
- SG_ CF_VSM_Stat : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,PSB
- SG_ CF_VSM_BeltCmd : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC,PSB
- SG_ ACCFailInfo : 11|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,ESC,IBOX
- SG_ ACCMode : 13|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IBOX,TCU
- SG_ StopReq : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB,ESC
- SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0.0) [0.0|2.55] "g"  ESC
- SG_ aReqMax : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,ESC,TCU
- SG_ TakeOverReq : 35|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC,TCU
- SG_ PreFill : 36|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,TCU
- SG_ aReqMin : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,ESC,TCU
- SG_ CF_VSM_ConfMode : 48|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_Failinfo : 50|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_Status : 52|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_CmdAct : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ AEB_StopReq : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC
- SG_ CR_VSM_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,PSB
- SG_ CR_VSM_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,PSB
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_DecCmdAct : 1|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_HBACmd : 2|2@1+ (1,0) [0|3] "" ESC
+ SG_ CF_VSM_Warn : 4|2@1+ (1,0) [0|3] "" CLU,ESC,IAP
+ SG_ CF_VSM_Stat : 6|2@1+ (1,0) [0|3] "" CLU,ESC,PSB
+ SG_ CF_VSM_BeltCmd : 8|3@1+ (1,0) [0|7] "" ESC,PSB
+ SG_ ACCFailInfo : 11|2@1+ (1,0) [0|3] "" CLU,CUBIS,ESC,IBOX
+ SG_ ACCMode : 13|2@1+ (1,0) [0|3] "" CLU,ESC,IBOX,TCU
+ SG_ StopReq : 15|1@1+ (1,0) [0|1] "" EPB,ESC
+ SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0) [0|2.55] "g" ESC
+ SG_ TakeOverReq : 35|1@1+ (1,0) [0|1] "" CLU,ESC,TCU
+ SG_ PreFill : 36|1@1+ (1,0) [0|1] "" ESC,TCU
+ SG_ CF_VSM_ConfMode : 48|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_Failinfo : 50|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_Status : 52|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_CmdAct : 54|1@1+ (1,0) [0|1] "" ESC
+ SG_ AEB_StopReq : 55|1@1+ (1,0) [0|1] "" CLU,ESC
+ SG_ CR_VSM_Alive : 56|4@1+ (1,0) [0|15] "" ESC,PSB
+ SG_ CR_VSM_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC,PSB
+ SG_ aReqValue : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX
+ SG_ aReqRaw : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX

 BO_ 1313 GW_DDM_PE: 8 BCM
 SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
@@ -1188,23 +1190,23 @@ BO_ 1313 GW_DDM_PE: 8 BCM
 SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
+ 
 BO_ 1056 SCC11: 8 SCC
- SG_ MainMode_ACC : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,ESC
- SG_ SCCInfoDisplay : 1|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC
- SG_ AliveCounterACC : 4|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,EMS,ESC,TCU
- SG_ VSetDis : 8|8@1+ (1.0,0.0) [0.0|255.0] "km/h or MPH"  CLU,ESC,TCU
- SG_ ObjValid : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC,TCU
- SG_ DriverAlertDisplay : 17|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ TauGapSet : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC,TCU
- SG_ ACC_ObjStatus : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  ABS,ESC
- SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20.0) [-20.0|31.1] "m"  ABS,ESC
- SG_ ACC_ObjDist : 33|11@1+ (0.1,0.0) [0.0|204.7] "m"  ABS,ESC
- SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170.0) [-170.0|239.5] "m/s"  ABS,ESC
- SG_ Navi_SCC_Curve_Status : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Curve_Act : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Camera_Act : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Camera_Status : 62|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ MainMode_ACC : 0|1@1+ (1,0) [0|1] "" CLU,EMS,ESC
+ SG_ SCCInfoDisplay : 1|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ AliveCounterACC : 4|4@1+ (1,0) [0|15] "" CLU,EMS,ESC,TCU
+ SG_ VSetDis : 8|8@1+ (1,0) [0|255] "km/h or MPH" CLU,ESC,TCU
+ SG_ ObjValid : 16|1@1+ (1,0) [0|1] "" CLU,ESC,TCU
+ SG_ DriverAlertDisplay : 17|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ TauGapSet : 19|3@1+ (1,0) [0|7] "" CLU,ESC,TCU
+ SG_ Navi_SCC_Curve_Status : 56|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Curve_Act : 58|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Camera_Act : 60|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Camera_Status : 62|2@1+ (1,0) [0|3] "" CLU
+ SG_ ACC_ObjStatus : 22|2@1+ (1,0) [0|3] "" ABS,ESC
+ SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20) [-20|31.1] "m" ABS,ESC
+ SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170) [-170|239.5] "m/s" ABS,ESC
+ SG_ ACC_ObjDist : 33|11@1+ (0.1,0) [0|204.7] "m" ABS,ESC

 BO_ 1312 CGW3: 8 BCM
 SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] ""  DATC,DATC
@@ -1248,6 +1250,14 @@ BO_ 790 EMS11: 8 EMS
 SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS
 SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] ""  _4WD,IBOX,TCU

+BO_ 881 E_EMS11: 8 XXX
+ SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
+ SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
+ SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
+
 BO_ 1301 CLU14: 8 CLU
 SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
 SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
@@ -1367,9 +1377,9 @@ BO_ 1292 CLU13: 8 CLU
 SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,LDWS_LKAS

 BO_ 1290 SCC13: 8 SCC
- SG_ SCCDrvModeRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ SCC_Equip : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ AebDrvSetStatus : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC
+ SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU
+ SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC
+ SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC

 BO_ 1287 TCS15: 4 ESC
 SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,CUBIS,IBOX
@@ -1423,26 +1433,45 @@ BO_ 512 EMS20: 6 EMS
 SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  FPCM

 BO_ 909 FCA11: 8 FCA
- SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] ""  ESC
- SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] ""  ESC
- SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
- SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] ""  ESC
- SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g"  ESC
- SG_ FCA_Status : 18|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
- SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] ""  ESC
- SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] ""  CLU,ESC
- SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] ""  CLU,ESC
- SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] ""  ESC
- SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] ""  ACU,CLU,ESC
- SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] ""  ESC
- SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] ""  ESC
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] "" ESC
+ SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
+ SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] "" ESC
+ SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g" ESC
+ SG_ FCA_Status : 18|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
+ SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] "" ESC
+ SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] "" CLU,ESC
+ SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] "" ESC
+ SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] "" ACU,CLU,ESC
+ SG_ FCA_RelativeVelocity : 39|9@1+ (0.1,-25.5) [-25.5|25.5] "m/s" iBAU
+ SG_ FCA_TimetoCollision : 48|8@1+ (10,0) [0|2540] "ms" iBAU
+ SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] "" ESC
+ SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC
+ SG_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX
+ SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX
+
+BO_ 1155 FCA12: 8 FCA
+ SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC
+ SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW
+
+BO_ 1186 FRT_RADAR11: 2 FCA
+ SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC

 BO_ 905 SCC14: 8 SCC
- SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
- SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
- SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
- SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
- SG_ SCCMode : 32|3@1+ (1,0) [0|7] ""  ESC
+ SG_ ComfortBandLower : 6|6@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ComfortBandUpper : 0|6@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ JerkLowerLimit : 19|7@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|0] "" Vector__XXX
+ SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
+ SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC

 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
@@ -94,9 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 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
@@ -159,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,9 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 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
@@ -159,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,9 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 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
@@ -159,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,9 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 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
@@ -159,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,9 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 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
@@ -159,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,9 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 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
@@ -159,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -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
@@ -399,23 +402,26 @@ BO_ 158 MSG_05: 8 XXX
 SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 157 CRZ_BTNS: 8 XXX
- SG_ SET_P_INV : 21|1@0+ (1,0) [0|3] "" XXX
- SG_ CAN_OFF_INV : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ CAN_OFF : 0|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_M_INV : 22|1@0+ (1,0) [0|255] "" XXX
- SG_ SET_M : 5|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_P : 4|1@0+ (1,0) [0|3] "" XXX
- SG_ RES_INV : 19|1@1+ (1,0) [0|3] "" XXX
- SG_ RES : 2|1@1+ (1,0) [0|3] "" XXX
+ SG_ BIT1 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT2 : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT3 : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_P_INV : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAN_OFF_INV : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAN_OFF : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_M_INV : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_M : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_P : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_INV : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES : 2|1@0+ (1,0) [0|1] "" XXX
 SG_ DISTANCE_LESS : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|31] "" XXX
- SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|3] "" XXX
+ SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|1] "" XXX
 SG_ DISTANCE_MORE_INV : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ MODE_Y : 13|1@1+ (1,0) [0|3] "" XXX
- SG_ MODE_X : 14|1@0+ (1,0) [0|255] "" XXX
- SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|3] "" XXX
- SG_ MODE_X_INV : 31|1@0+ (1,0) [0|3] "" XXX
- SG_ CTR : 29|4@0+ (1,0) [0|255] "" XXX
+ SG_ MODE_Y : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_X : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_X_INV : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR : 29|4@0+ (1,0) [0|15] "" XXX

 BO_ 154 BLINK_INFO: 8 XXX
 SG_ LEFT_BLINK : 18|1@1+ (1,0) [0|3] "" XXX
@@ -482,14 +488,13 @@ 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 +550,7 @@ 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 +575,9 @@ 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 +622,14 @@ 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 +708,7 @@ 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 +753,12 @@ 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 +768,9 @@ 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";
@@ -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
@@ -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" ;
@@ -36,70 +36,41 @@ 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_ 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_ 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_ 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_ 768 STEER_TORQUE: 2 XXX
- SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
- SG_ DriverTouchingWheel : 15|1@0+ (-1,1) [0|7] "" XXX
-
-BO_ 459 Maybe_RegenBraking: 8 XXX
-
-BO_ 372 Maybe_Gear_Selector: 8 XXX
- SG_ Counter : 35|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
- SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 460 Maybe_Brake_Related: 8 XXX
-
-BO_ 2 SteeringWheel: 8 XXX
- SG_ Steering_RateChange : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ Always_07 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 384 Maybe_PowerInfo: 8 XXX
- SG_ Unknown_Timer_PowerInfo : 51|4@0+ (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_ 389 Steering: 8 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_ LKAS_Torque : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ CRC : 63|8@0+ (1,0) [0|127] "" XXX
- SG_ Angle : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
- SG_ DriverTorque : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" 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_ 851 SPEED_RELATED: 8 XXX
- SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" 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_ 386 Accelerator: 8 XXX
- SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
-
-BO_ 348 Throttle: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ Throttle : 26|11@0+ (1,0) [0|2047] "" XXX
- SG_ ThrottlePedal : 47|10@0+ (1,0) [0|1023] "" XXX
-
-BO_ 523 CruiseThrottle: 6 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
@@ -111,13 +82,73 @@ BO_ 523 CruiseThrottle: 6 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_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
- SG_ unsure1 : 7|16@0+ (1,0) [0|15] "" 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_ 1108 DoorsLights: 8 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
@@ -130,49 +161,6 @@ BO_ 1108 DoorsLights: 8 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_ 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 : 51|4@0+ (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_ 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_ 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_ DESIRED_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 : 33|2@0+ (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_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_ 397 _GEAR: 8 XXX
- SG_ GEAR : 27|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1273 _SEATBELT: 7 XXX
- SG_ DRIVERS_SEATBELT : 25|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 665 _ESP: 8 XXX
- SG_ ESP_DISABLED : 24|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_ 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
@@ -210,46 +198,15 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 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_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
- SG_ unknown55 : 55|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_ 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_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ unknown55 : 55|8@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_ unknown39 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
- SG_ unknown8 : 8|7@0+ (1,0) [0|63] "" XXX
- SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" 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" ;
@@ -37,188 +37,215 @@ 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_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" 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_ 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|8@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 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
+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_4 : 32|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" 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
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ RPM : 40|16@1+ (1,0) [0|255] "" XXX

-BO_ 72 NEW_MSG_2: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 73 CVT: 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_ CVT_Gear : 24|8@1+ (1,0) [0|127] "" XXX

-BO_ 316 NEW_MSG_3: 8 XXX
+BO_ 316 Brake_Status: 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|46@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
+ SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" 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
- SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX

 BO_ 315 G_Sensor: 8 XXX
- SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
- SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
+ SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
+ SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" 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
 SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" 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_ 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
- SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" 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
+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_ 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_ counter : 8|4@1+ (1,0) [0|15] "" 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_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" 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_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|1] "" XXX
+ SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX
+ SG_ Brake_Lights : 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_ SET_1 : 12|1@0+ (1,0) [0|3] "" 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_ 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_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|63] "" XXX
+ SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" 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_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|15] "" XXX
+ SG_ Signal2 : 28|4@1+ (1,0) [0|1] "" XXX
+ SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 37|1@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 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_ Signal6 : 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_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" 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_ 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_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Lights : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" 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_ Signal1 : 12|28@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal2 : 42|22@1+ (1,0) [0|3] "" XXX

-BO_ 577 NEW_MSG_16: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 577 Cruise_Status: 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_1 : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Active : 57|4@1+ (1,0) [0|1] "" XXX

-BO_ 552 NEW_MSG_17: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 552 BSD_RCTA: 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_1 : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" 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_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX
 SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 51|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
+ SG_ BRAKE : 54|1@1+ (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_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_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 14|10@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 25|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 33|2@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal5 : 37|3@1+ (1,0) [0|1] "" 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_ Signal6 : 49|2@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Lights : 51|1@1+ (1,0) [0|3] "" 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_ Signal7 : 53|3@1+ (1,0) [0|1] "" 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
@@ -227,143 +254,43 @@ BO_ 802 ES_LKAS_State: 8 XXX
 SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
 SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Green : 29|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" 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_ 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
+ SG_ LKAS_Right_Line_Green : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Alert : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal3 : 36|28@1+ (1,0) [0|1] "" XXX

-BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 722 AC_State: 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 : 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 2015 NEW_MSG_32: 8 XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 2024 NEW_MSG_33: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" 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_ 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_ 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_ 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_ 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_ 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
+ SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX
+ SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" 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_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1785 NEW_MSG_42: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 1759 NEW_MSG_43: 8 XXX
- SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 1786 NEW_MSG_44: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
-
-BO_ 1787 NEW_MSG_45: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
-
-
-
-
-CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
+CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
+CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
+CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
+CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
+CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
+CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
+CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
+CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
+CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
+CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
+CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+";
+CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)";
+CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert";
+CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
 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_ 805 NEW_SIGNAL_3 "always 3";
-CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
-CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 1677 Units "AU/EU: 1 = imperial, 3 = metric US: 3 = imperial, 4 = metric";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
@@ -0,0 +1,266 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX 0
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
+ SG_ Lateral : 16|16@1- (0.0035,1) [0|65535] "" XXX
+ SG_ Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|3] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 321 Engine: 8 XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|3] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|7] "" XXX
+ SG_ DistanceSwap : 21|1@1+ (1,0) [0|3] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|7] "" XXX
+ SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|3] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|3] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|65535] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 880 Steer_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|8500] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel__: 8 XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|1] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 1745 Dash_State: 8 XXX
+  SG_ Units : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ Units2 : 15|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 355 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 40|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 54|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 211 Brake_Pedal_On "high tolerance";
+CM_ SG_ 212 FL "KPH";
+CM_ SG_ 212 RL "KPH";
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body_ "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Brake_On "long activatedish";
+CM_ SG_ 353 SET_1 "always 1";
+CM_ SG_ 353 SET_2 "";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
+CM_ SG_ 358 ES_Error "No engagement until restart";
+CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Alerts "2 = lead beep";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+VAL_ 1745 Units 0 "Metric" 1 "Imperial";
+VAL_ 1745 Units2 0 "Metric 1 "Imperial";
@@ -37,43 +37,26 @@ 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_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" 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_ 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|8@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
+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_4 : 32|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" 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
- 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
-
-BO_ 316 NEW_MSG_3: 8 XXX
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" 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
@@ -82,71 +65,53 @@ BO_ 326 Cruise_Buttons: 8 XXX
 SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX

 BO_ 315 G_Sensor: 8 XXX
- SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
- SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
+ SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
+ SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" 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
 SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" 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_ 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
- SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" 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
-
 BO_ 281 Steering_Torque: 8 XXX
- SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
- SG_ counter : 8|4@1+ (1,0) [0|15] "" 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
- SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" 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
+ 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|255] "" 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_ SET_1 : 12|1@0+ (1,0) [0|3] "" 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_ 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
@@ -154,73 +119,60 @@ 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_ 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_ 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
+BO_ 552 BSD_RCTA: 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_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_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" 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_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 51|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_ 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_Distance : 28|3@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_ 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_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" 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
@@ -243,128 +195,14 @@ BO_ 802 ES_LKAS_State: 8 XXX
 SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 2015 NEW_MSG_32: 8 XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 2024 NEW_MSG_33: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" 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_ 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_ 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_ 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_ 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_ 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_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1785 NEW_MSG_42: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 1759 NEW_MSG_43: 8 XXX
- SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 1786 NEW_MSG_44: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
-
-BO_ 1787 NEW_MSG_45: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
-
-
-
-
+CM_ SG_ 801 Cruise_State "0 = Normal, 3 = Hold";
+CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
 CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
-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";
@@ -38,167 +38,126 @@ BU_: XXX 0

 BO_ 2 Steering: 8 XXX
 SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
- SG_ NEW_SIGNAL_6 : 24|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 22|3@0+ (1,0) [0|7] "" XXX
 SG_ Counter : 27|3@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 31|4@0- (1,0) [0|65535] "" XXX
 SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 208 G_Sensor: 8 XXX
- SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ _Latitudinal : 16|16@1- (0.0035,1) [0|65535] "" XXX
- SG_ _Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
 SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Lateral : 16|16@1- (0.0035,1) [0|65535] "" XXX
+ SG_ Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX

 BO_ 209 Brake_Pedal: 8 XXX
- SG_ NEW_SIGNAL_1 : 26|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 31|1@1+ (1,0) [0|255] "" XXX
- SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX

 BO_ 210 Brake_2: 8 XXX
- SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 46|1@1+ (1,0) [0|4294967295] "" XXX
- SG_ NEW_SIGNAL_2 : 37|3@1+ (1,0) [0|7] "" XXX

 BO_ 211 Brake_Type: 8 XXX
- SG_ NEW_SIGNAL_3 : 7|1@1+ (1,0) [0|4294967295] "" XXX
- SG_ NEW_SIGNAL_2 : 16|4@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Light : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 28|4@1+ (1,0) [0|15] "" XXX
 SG_ Speed_Counter : 32|8@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|3] "" XXX
 SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|3] "" XXX
 SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX

 BO_ 212 Wheel_Speeds: 8 XXX
- SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
 SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
 SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
 SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX

 BO_ 320 Throttle: 8 XXX
- SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
- SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 63|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 61|1@1+ (1,0) [0|3] "" XXX
- SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
 SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX

 BO_ 321 Engine: 8 XXX
- SG_ NEW_SIGNAL_7 : 59|2@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_2 : 47|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
 SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
- SG_ NEW_SIGNAL_3 : 53|2@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 46|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_8 : 28|4@1+ (1,0) [0|15] "" XXX
- SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
- SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX

 BO_ 324 CruiseControl: 8 XXX
 SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
 SG_ SET_BUTTON : 3|1@1+ (1,0) [0|3] "" XXX
 SG_ RES_BUTTON : 4|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 8|1@1+ (1,0) [0|255] "" XXX
 SG_ Button : 13|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_9 : 15|1@1+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,-124) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 24|5@1+ (1,0) [0|16777215] "" XXX
 SG_ Cruise_On : 48|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 49|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_6 : 50|1@1+ (1,0) [0|3] "" XXX
 SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|3] "" XXX

 BO_ 328 Transmission: 8 XXX
- SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
 SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
- SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
- SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_7 : 63|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 43|1@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 31|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX

 BO_ 329 CVT_Ratio: 8 XXX
- SG_ NEW_SIGNAL_4 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 8|4@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX

 BO_ 336 Brake_Pressure: 8 XXX
 SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX

 BO_ 338 Stalk: 8 XXX
- SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
- SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX
- SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
- SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
- SG_ brake_light : 52|1@1+ (1,0) [0|3] "" XXX
 SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 346 Counter_3: 8 XXX
- SG_ Counter : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 20|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 57|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX

 BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
 SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
- SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX

 BO_ 353 ES_CruiseThrottle: 8 XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
- SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ Unknown : 18|1@1+ (1,0) [0|7] "" XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|3] "" XXX
 SG_ Brake_On : 20|1@1+ (1,0) [0|7] "" XXX
 SG_ DistanceSwap : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
- SG_ SET_0_1 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|7] "" XXX
 SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
- SG_ SET_0_2 : 51|5@1+ (1,0) [0|31] "" XXX
- SG_ SET_0_3 : 47|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_0_4 : 43|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_1 : 23|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 19|1@1+ (1,0) [0|1] "" XXX
- SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
- SG_ SET_2 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Cruise_Activatedish : 16|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_9 : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|3] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX

 BO_ 354 ES_RPM: 8 XXX
- SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
- SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
 SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Activated : 9|1@1+ (1,0) [0|3] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
 SG_ Checksum : 32|8@1+ (1,0) [0|65535] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX

 BO_ 356 ES_LKAS: 8 XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 358 ES_DashStatus: 8 XXX
 SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
@@ -206,136 +165,80 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Untitled_Blank_2 : 18|1@1+ (1,0) [0|3] "" XXX
 SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|3] "" XXX
 SG_ Driver_Input : 20|1@1+ (1,0) [0|15] "" XXX
+ SG_ Distance_Bars : 21|3@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
 SG_ ES_Error : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 35|1@1+ (1,0) [0|31] "" XXX
 SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
 SG_ Lead_Car : 46|1@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|3] "" XXX
- SG_ Untitled_Blank_2 : 18|1@1+ (1,0) [0|3] "" XXX
 SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
 SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
 SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
 SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
- SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
- SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
- SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
- SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
-
-BO_ 392 Counter_0: 8 XXX
- SG_ Counter : 16|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 554 NEW_MSG_3: 8 XXX
- SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
-
-BO_ 640 NEW_MSG_10: 8 XXX
- SG_ NEW_SIGNAL_6 : 0|1@1+ (1,0) [0|7] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 33|2@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_7 : 38|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 39|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 53|2@1+ (1,0) [0|15] "" XXX

 BO_ 642 Dashlights: 8 XXX
- SG_ NEW_SIGNAL_2 : 32|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 34|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX
- SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
 SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 644 NEW_MSG_8: 8 XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX

 BO_ 880 Steer_Torque_2: 8 XXX
 SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 8|1@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 30|1@1+ (1,0) [0|3] "" XXX
 SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
 SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 48|4@1- (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4_2017 : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5_2017 : 54|1@1+ (1,0) [0|3] "" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX
 SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX
 SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|-8500] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|8500] "" XXX
 SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

-BO_ 882 Counter: 8 XXX
- SG_ Something : 16|2@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 12|4@1+ (1,0) [0|31] "" XXX
-
 BO_ 884 BodyInfo: 8 XXX
- SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ _UNKNOWN : 0|3@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX

 BO_ 864 Engine_Temp: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
 SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
 SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
-
-BO_ 865 NEW_MSG_16: 8 XXX
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 12|1@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 866 Fuel__: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 24|1@1+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|16777215] "" XXX

-BO_ 872 NEW_MSG_15: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|65535] "" XXX
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|1] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX

-BO_ 977 NEW_MSG_12: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 16|12@1+ (1,0) [0|255] "" XXX
+BO_ 1745 Dash_State: 8 XXX
+  SG_ Units : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ Units2 : 15|1@1+ (1,0) [0|1] "" XXX

-BO_ 1632 Huge_Counter: 8 XXX
- SG_ Counter : 55|16@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1745 NEW_MSG_11: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|6@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 40|6@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 0|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 1786 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_2 : 8|16@1+ (1,0) [0|15] "" XXX
- SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
-
-
-
-
-CM_ SG_ 2 NEW_SIGNAL_1 "";
 CM_ SG_ 211 Brake_Pedal_On "high tolerance";
 CM_ SG_ 212 FL "KPH";
 CM_ SG_ 212 RL "KPH";
@@ -347,7 +250,6 @@ CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow,
 CM_ SG_ 353 Brake_On "long activatedish";
 CM_ SG_ 353 SET_1 "always 1";
 CM_ SG_ 353 SET_2 "";
-CM_ SG_ 353 NEW_SIGNAL_9 "flipped around quick engagement";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
@@ -362,10 +264,14 @@ CM_ SG_ 359 Alerts "2 = lead beep";
 CM_ SG_ 359 Sig1All_Depart "Left and right depart";
 CM_ SG_ 359 Sig2All_Depart "Left and right depart";
 CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
 CM_ SG_ 642 Counter "Affected by signals";
 CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
-CM_ SG_ 642 SEATBELT_FL "";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
 CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
-CM_ SG_ 880 NEW_SIGNAL_1 "0 in 2017";
-CM_ SG_ 880 NEW_SIGNAL_4_2017 "1 in 2017";
-CM_ SG_ 880 NEW_SIGNAL_5_2017 "1 in 2017";
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+VAL_ 1745 Units 0 "Metric" 1 "Imperial";
+VAL_ 1745 Units2 0 "Metric 1 "Imperial";
@@ -94,9 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 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
@@ -159,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,9 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 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
@@ -159,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -316,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Willem Melching	9e7fb4680d	Revert "add wrong neos version alert (#1725 )" This reverts commit `9ff1fb48de`.	2020-06-19 16:50:38 -07:00
Willem Melching	40982f18ab	update affected order numbers	2020-06-16 13:42:35 -07:00
Willem Melching	4d47e1243d	hotfix release: 0.7.6.1 (#1727 ) * neos update with just kernel * Bump version and update release notes * Only add neos update, no other stuff	2020-06-16 13:39:29 -07:00
Willem Melching	9ff1fb48de	add wrong neos version alert (#1725 )	2020-06-16 12:49:38 -07:00
Willem Melching	51aa86da12	run deleter when offroad	2020-06-05 15:02:26 -07:00
Willem Melching	6e00ef601d	boardd: no conflate on sendcan (#1645 )	2020-06-05 15:01:59 -07:00
Adeeb	db7ea2a599	fix speed too low (#1628 )	2020-06-02 18:40:39 -07:00
Willem Melching	682dc5ddad	speedTooHigh should not be an immediate disable	2020-06-01 17:13:13 -07:00
Willem Melching	3b62a21fa7	Fix low speed engage on stop and go Hondas (#1613 ) * fix low speed engage on stop and go Hondas * update ref commit	2020-06-01 10:15:03 -07:00
Jafar Al-Gharaibeh	ffe062c774	Mazda: Slower rate for ACC cancel msg to avoid cruise disable (#1615 ) * Slower rate for ACC cancel msg to avoid cruise disable Sending ACC cancel message at 10hz may end up disabling main cruise state. That is because stoc ACC use the same signal for both functions. If cruise is already enabled the signal canceles it, otherwise cruise is disabled. 10hz seems to be still fast in some cases not allowing the state to sync up between OP and the Stock state. 5hz avoids that issue. Also, the resume message was also updated to 5hz as that seems to work better as well. Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Round up 27.96 to 28mph Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>	2020-06-01 10:08:14 -07:00
Vehicle Researcher	4fd2b0e730	openpilot v0.7.6 release	2020-05-31 13:22:49 -07:00
Vehicle Researcher	2d659de09c	Merge opendbc subtree	2020-05-31 13:22:45 -07:00
Vehicle Researcher	35bd9d9fb3	Squashed 'opendbc/' changes from f1e69a6cf..e92e74311 e92e74311 whitespace after comma 5d33ec0f1 two spaces before inline comment 73685b609 fix linter complaint about whitespace around operators b15edbc1b fix linter complaint about inline comment whitespace 4ac30725b clean up blank lines 0430bfa5c run pre commit in ci (#268) 2ade6eeba Subaru DBC update (#242) d1185a53e Toyota ACC_CONTROL PERMIT_BRAKING and ACCEL_CMT_ALT speculated definition (#258) e6766bbbb Update SCC ECU Messages for OP Long Dev. (#267) b49b9ee75 Add DAW (#175) 3b5cccba0 Fixed up cell voltage readings and added more commands (#220) 8b0449327 Mazda: add missing static bits, tidy up endianness (#263) 124719992 Add BSD_RCTA to Subaru Global (#244) af1821f84 fix endianness in signal from new hyundai message 7ef41084b Add gas/brake message for hyundai EVs, from @TK211X 472aabb4f Subaru preglobal update (#260) 45c0d9ecc fix lta message (#262) 11343c108 Library cleanup (#261) 67d70cb86 Fix Toyota message size git-subtree-dir: opendbc git-subtree-split: e92e74311a7ed66922629bec4b8cee7c8db1b9f0	2020-05-31 13:22:45 -07:00
Vehicle Researcher	f878928731	Merge panda subtree	2020-05-31 13:22:43 -07:00
Vehicle Researcher	771a8b7a55	Squashed 'panda/' changes from 869f12321..49ffbe99f 49ffbe99f disable non-universal checks in hyundai safety 3a85f4c25 use whole route when running safety replay from CLI 098f47a5b Fix leaf brake rx check (#547) b8267341a Add pre commit checks + CI (#545) 339976c3c document tx message addresses better (#543) a618e64d1 fix typing errors 9bece64e8 use mazda init 08db086d5 mazda cleanup 89658d0bd Mazda: safety tests add missing safety checks (#525) bdec1398e Fix length of 0x20b in NISSAN_TX_MSGS, wasn't cancelling ACC (#544) b48c74c2e Adding UNO to automated tests (#538) a5802cdd1 Hyundai: remove unused message from RX checks 9ebde2535 Reset state on safety mode init (#542) d4f3f15c3 Refactor addr check (#541) 5210e51b8 remove unused files 065706459 Hyundai checksum (#540) 07e668eca Fast CI (#539) 5307bf727 Fix multi message iso tp requests 0610ed1e2 Hyundai wheel speed counter is actually 4 bits spread over two signals 0d581aa5f dockerfile optimization eaefa2f6c fix docker file path 243a65f30 pull base image 0dd9470af only push to dockerhub from master 55b79b472 GitHub Actions (#535) b2c720bf4 Dos (#533) 01bf74024 remove 0x1BE checksum test 0bd06c9e0 remove 0x1BE check (breaks some vehicles) c31b899a5 honda bosch longitudinal safety 66250c41d Disable docker layer caching (#534) 6b19fa496 include nissan safety in release build db31886ad gate mazda safety behind debug flag e4558c073 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: 49ffbe99f65e64d23d27d9d3e37f68bc2368dccd	2020-05-31 13:22:43 -07:00
Vehicle Researcher	fcd5a66252	Merge cereal subtree	2020-05-31 13:22:41 -07:00
Vehicle Researcher	23bbf52578	Squashed 'cereal/' changes from 12aad06e1..286b7e58b 286b7e58b capitalize docker command 0adfc7e77 add canErrorPersistent event c8be73d10 use github url instead of gitlab mirror 8e2d212a3 add pre-commit static analysis (#48) f27222f8f add gpsOK flag to liveLocationKalman 4bb1eb826 submaster always conflates 30838d40a C++ implementation of SubMaster and PubMaster (#42) c1a6d75d1 Fix potential segfault in MSGQPubSocket::connect (#45) 67fae6afc Use ZMQ on MacOS (#46) 01cdf832c add default values for backwards compat c96381b0d add OK flags to locationd output d589d5e3d add white panda deprecation events 856c9812d mark unused car events as deprecated 4f68db8f6 remove unnecessary new event type 9073b9b1b Library cleanup (#43) 7a786d9ce move remaining alerts to car events d6f10a4b9 add alert event type git-subtree-dir: cereal git-subtree-split: 286b7e58b5e7ede697370acc77fc7cca21d69764	2020-05-31 13:22:40 -07:00
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	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	7e908db510	Merge opendbc subtree	2020-05-09 13:01:32 -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	d1aff96611	Merge panda subtree	2020-05-09 13:01:28 -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
Vehicle Researcher	d692982601	Merge cereal subtree	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