Hotfix: agnos 1.2 (#21856)

* agnos 1.2 (#21847)

* update nav ad (#21836)

* the comma three

.gitignore

@@ -10,6 +10,7 @@ venv/
 .vscode*
 model2.png
 a.out
+.hypothesis
 
 *.dylib
 *.DSYM
@@ -41,6 +42,7 @@ selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
 selfdrive/ui/_ui
+selfdrive/ui/_soundd
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
@@ -48,6 +50,7 @@ selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 selfdrive/camerad/camerad
+selfdrive/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/
@@ -58,8 +61,7 @@ notebooks
 xx
 hyperthneed
 panda_jungle
-apks
-openpilot-apks
+provisioning
 
 .coverage*
 coverage.xml
@@ -70,7 +72,7 @@ pandaextra
 flycheck_*
 
 cppcheck_report.txt
-comma.sh
+comma*.sh
 
 selfdrive/modeld/thneed/compile
 models/*.thneed

CONTRIBUTING.md

@@ -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 [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [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 [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/).
 
 ## Getting Started
 
@@ -22,9 +22,9 @@ Code is automatically checked for style by GitHub Actions as part of the automat
 
 ## Car Ports (openpilot)
 
-We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
+We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
 
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
 
 ## Pull Requests
 
@@ -36,7 +36,7 @@ Or alternatively, when on the master branch:
 ```
 git submodule update --init
 ```
-The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
+The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
 Modules that are in seperate repositories include:
 * cereal
 * laika

Jenkinsfile

@@ -1,5 +1,5 @@
 def phone(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
 ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
 
@@ -7,10 +7,14 @@ set -e
 
 export CI=1
 export TEST_DIR=${env.TEST_DIR}
+export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 
 source ~/.bash_profile
+if [ -f /TICI ]; then
+  source /etc/profile
+fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
@@ -33,7 +37,7 @@ EOF"""
 
 def phone_steps(String device_type, steps) {
   lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 60, unit: 'MINUTES') {
+    timeout(time: 150, unit: 'MINUTES') {
       phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
       steps.each { item ->
         phone(device_ip, item[0], item[1])
@@ -47,9 +51,10 @@ pipeline {
   environment {
     COMMA_JWT = credentials('athena-test-jwt')
     TEST_DIR = "/data/openpilot"
+    SOURCE_DIR = "/data/openpilot_source/"
   }
   options {
-      timeout(time: 1, unit: 'HOURS')
+      timeout(time: 3, unit: 'HOURS')
   }
 
   stages {
@@ -66,7 +71,24 @@ pipeline {
       }
       steps {
         phone_steps("eon-build", [
-          ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+          ["build release2-staging & dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+        ])
+      }
+    }
+
+    stage('Build release3') {
+      agent {
+        docker {
+          image 'python:3.7.3'
+          args '--user=root'
+        }
+      }
+      when {
+        branch 'devel-staging'
+      }
+      steps {
+        phone_steps("tici", [
+          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release3.sh"],
         ])
       }
     }
@@ -75,12 +97,14 @@ pipeline {
       when {
         not {
           anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
+            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
+            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
+            branch 'testing-closet*'; branch 'hotfix-*'
           }
         }
       }
 
-
       stages {
 
         /*
@@ -110,6 +134,10 @@ pipeline {
         stage('On-device Tests') {
           agent {
             docker {
+              /*
+              filename 'Dockerfile.ondevice_ci'
+              args "--privileged -v /dev:/dev --shm-size=1G --user=root"
+              */
               image 'python:3.7.3'
               args '--user=root'
             }
@@ -118,20 +146,14 @@ pipeline {
           stages {
             stage('parallel tests') {
               parallel {
-                stage('Devel Build') {
-                  environment {
-                    CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
-                  }
+                stage('Devel Tests') {
                   steps {
                     phone_steps("eon-build", [
-                      ["build", "SCONS_CACHE=1 scons -j4"],
-                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
-                      ["test manager", "python selfdrive/test/test_manager.py"],
+                      ["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
                       ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      ["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
                       ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
-                      ["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
-                      ["test text window build", "cd selfdrive/ui/text && make clean && make"],
                     ])
                   }
                 }
@@ -139,8 +161,8 @@ pipeline {
                 stage('Replay Tests') {
                   steps {
                     phone_steps("eon2", [
-                      ["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
-                      ["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
                     ])
                   }
                 }
@@ -148,35 +170,95 @@ pipeline {
                 stage('HW + Unit Tests') {
                   steps {
                     phone_steps("eon", [
-                      ["build", "SCONS_CACHE=1 scons -j4"],
-                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
+                      ["test sounds", "nosetests -s selfdrive/ui/tests/test_sounds.py"],
                       ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                       ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
                       //["test updater", "python installer/updater/test_updater.py"],
                     ])
                   }
                 }
 
-                stage('Tici Build') {
+                /*
+                stage('Power Consumption Tests') {
+                  steps {
+                    lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+                      timeout(time: 90, unit: 'MINUTES') {
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
+                        phone(device_ip, "build", "scons -j4 && sync")
+                        sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
+                        sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
+                        sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
+                        sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
+                      }
+                    }
+                  }
+                }
+                */
+
+                stage('tici Build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                   }
                   steps {
                     phone_steps("tici", [
-                      ["build", "SCONS_CACHE=1 scons -j16"],
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                    ])
+                  }
+                }
+
+                stage('Unit Tests (tici)') {
+                  steps {
+                    phone_steps("tici2", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                    ])
+                  }
+                }
+
+                stage('camerad') {
+                  steps {
+                    phone_steps("eon-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
                       ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                    ])
+                  }
+                }
+
+                stage('Tici camerad') {
+                  steps {
+                    phone_steps("tici-party", [
+                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
                     ])
                   }
                 }
 
               }
             }
+
+            stage('Push master-ci') {
+              when {
+                branch 'master'
+              }
+              steps {
+                phone_steps("eon-build", [
+                  ["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
+                ])
+              }
+            }
+
           }
 
           post {

README.md

@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/UelUjKAh.png)](#)
+![](https://user-images.githubusercontent.com/37757984/127420744-89ca219c-8f8e-46d3-bccf-c1cb53b81bb1.png)
 
 Table of Contents
 =======================
@@ -57,7 +57,7 @@ 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. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+At the moment, openpilot supports the EON Gold DevKit, [comma two](https://comma.ai/shop/products/two), and [comma three](https://comma.ai/shop/products/three). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect your device 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
 ------
@@ -66,14 +66,16 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | Acura     | ILX 2016-19                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2020                      | All               | Stock            | 0mph               | 3mph              |
+| Acura     | RDX 2019-21                   | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-21       | Honda Sensing     | Stock            | 0mph               | 12mph             |
-| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
-| Honda     | Civic Sedan/Coupe 2019-20     | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | Civic Coupe 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Coupe 2019-20           | All               | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | Civic Sedan 2016-18           | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Sedan 2019-20           | All               | 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 2017-21                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | HR-V 2019-20                  | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
@@ -82,24 +84,27 @@ Supported Cars
 | Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
 | Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-21             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Hyundai   | Palisade 2020-21              | All               | Stock            | 0mph               | 0mph              |
 | Hyundai   | Sonata 2020-21                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES 2019-20                    | All               | openpilot        | 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2018                | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES 2019-21                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | NX Hybrid 2018-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016-18, 2021      | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Lexus     | RX Hybrid 2020-21             | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Alphard 2020                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Camry 2021                    | All               | openpilot        | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry Hybrid 2021             | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | C-HR 2017-20                  | All               | Stock            | 0mph               | 0mph              |
@@ -112,6 +117,7 @@ Supported Cars
 | Toyota    | Highlander 2020-21            | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Mirai 2021	                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
@@ -132,7 +138,9 @@ Community Maintained Cars and Features
 
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Audi      | A3 2015, 2017                 | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 2014-18                    | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | A3 Sportback e-tron 2017-18   | Prestige          | Stock            | 0mph               | 0mph         |
+| Audi      | Q2 2018                       | Driver Assistance | Stock            | 0mph               | 0mph         |
 | 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         |
@@ -147,44 +155,72 @@ Community Maintained Cars and Features
 | GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Elantra 2021                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Elantra Hybrid 2021           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
 | Hyundai   | Ioniq Electric 2019           | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Ioniq Electric 2020           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Ioniq PHEV 2020               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona 2020                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Kona EV 2019                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019-20              | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata 2018-2019              | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Hyundai   | Veloster 2019                 | SCC + LKAS        | Stock            | 5mph               | 0mph         |
+| Hyundai   | Veloster 2019-20              | SCC + LKAS        | Stock            | 5mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018-19, 2021           | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Forte 2018-2021               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Niro PHEV 2019                | SCC + LKAS        | Stock            | 10mph              | 32mph        |
 | Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Seltos 2021                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018-19               | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Altima 2020                   | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Kia       | Ceed 2019                     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Altima 2019-20                | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2018-20                  | ProPILOT          | Stock            | 0mph               | 0mph         |
-| Nissan    | Rogue 2018-19                 | ProPILOT          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2018-20                 | ProPILOT          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017                  | ProPILOT          | Stock            | 0mph               | 0mph         |
+| SEAT      | Ateca 2018                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| SEAT      | Leon 2014-2020                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Kodiaq 2018                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia 2015, 2019            | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Octavia RS 2016               | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Scala 2020                    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Škoda     | Superb 2015-18                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Forester 2019-20              | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf Alltrack 2017-18         | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTE 2016                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf GTI 2018-19              | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf R 2016-19                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportsVan 2016           | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf SportWagen 2015          | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| T-Cross 2021                  | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Touran 2017                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 
 <sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-
-Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
+<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
 
 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
 
+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
 Installation Instructions
 ------
 
-Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
+Install openpilot on a supported device by entering ``https://openpilot.comma.ai`` during the installer setup.
 
 Follow these [video instructions](https://youtu.be/lcjqxCymins) 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.
 
@@ -263,18 +299,18 @@ openpilot is open source software: the user is free to disable data collection i
 openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
 
-By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+By using openpilot, you agree to [our Privacy Policy](https://connect.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 
 Safety and Testing
 ----
 
 * openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
-* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
+* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.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.
 * panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
-* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 
 Testing on PC
 ------
@@ -301,7 +337,7 @@ Community and Contributing
 
 openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
 
-You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
+You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
 Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
 
@@ -310,30 +346,29 @@ And [follow us on Twitter](https://twitter.com/comma_ai).
 Directory Structure
 ------
     .
-    ├── apk                 # The apk files used for the UI
     ├── 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
+    ├── installer/updater   # Manages updates of NEOS
     ├── opendbc             # Files showing how to interpret data from cars
     ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # Libraries used on NEOS devices
-    ├── pyextra             # Libraries used on NEOS devices
+    ├── phonelibs           # External libraries
+    ├── pyextra             # Extra python packages not shipped in NEOS
     └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts, images and sounds 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
         ├── car             # Car specific code to read states and control actuators
         ├── common          # Shared C/C++ code for the daemons
-        ├── controls        # Perception, planning and controls
+        ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
-        ├── locationd       # Soon to be home of precise location
+        ├── locationd       # Precise localization and vehicle parameter estimation
         ├── logcatd         # Android logcat as a service
         ├── loggerd         # Logger and uploader of car data
         ├── modeld          # Driving and monitoring model runners
         ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU / GPS interface code
-        ├── test            # Unit tests, system tests and a car simulator
+        ├── sensord         # IMU interface code
+        ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI
 
 Licensing

RELEASES.md

@@ -1,3 +1,64 @@
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
+Version 0.8.6 (2021-07-21)
+========================
+ * Revamp lateral and longitudinal planners
+   * Refactor planner output API to be more readable and verbose
+   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
+   * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
+ * Remove "CHECK DRIVER FACE VISIBILITY" warning
+ * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
+ * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
+ * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
+ * Kia Niro Hybrid 2019 support thanks to jyoung8607!
+ * Škoda Octavia RS 2016 support thanks to jyoung8607!
+ * Toyota Alphard 2020 support thanks to belm0!
+ * Volkswagen Golf SportWagen 2015 support thanks to jona96!
+ * Volkswagen Touran 2017 support thanks to jyoung8607!
+
+Version 0.8.5 (2021-06-11)
+========================
+ * NEOS update: improved reliability and stability with better voltage regulator configuration
+ * Smart model-based Forward Collision Warning
+ * CAN-based fingerprinting moved behind community features toggle
+ * Improved longitudinal control on Toyotas with a comma pedal
+ * Improved auto-brightness using road-facing camera
+ * Added "Software" settings page with updater controls
+ * Audi Q2 2018 support thanks to jyoung8607!
+ * Hyundai Elantra 2021 support thanks to CruiseBrantley!
+ * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
+ * Toyota Avalon Hybrid 2019 support thanks to jbates9011!
+ * SEAT Leon 2017 & 2020 support thanks to jyoung8607!
+ * Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
+
+Version 0.8.4 (2021-05-17)
+========================
+ * Delay controls start until system is ready
+ * Fuzzy car identification, enabled with Community Features toggle
+ * Localizer optimized for increased precision and less CPU usage
+ * Retuned lateral control to be more aggressive when model is confident
+ * Toyota Mirai 2021 support
+ * Lexus NX 300 2020 support thanks to goesreallyfast!
+ * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
+
+Version 0.8.3 (2021-04-01)
+========================
+ * New model
+   * Trained on new diverse dataset from 2000+ users from 30+ countries
+   * Trained with improved segnet from the comma-pencil community project
+   * 🥬 Dramatically improved end-to-end lateral performance 🥬
+ * Toggle added to disable the use of lanelines
+ * NEOS update: update packages and support for new UI
+ * New offroad UI based on Qt
+ * Default SSH key only used for setup
+ * Kia Ceed 2019 support thanks to ZanZaD13!
+ * Kia Seltos 2021 support thanks to speedking456!
+ * Added support for many Volkswagen and Škoda models thanks to jyoung8607!
+
 Version 0.8.2 (2021-02-26)
 ========================
  * Use model points directly in MPC (no more polyfits), making lateral planning more accurate

SAFETY.md

@@ -28,7 +28,7 @@ ensuring two main safety requirements.
    react. This means that while the system is engaged, the actuators are constrained
    to operate within reasonable limits.
 
-For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
+For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
 
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.

SConstruct

@@ -13,6 +13,14 @@ AddOption('--test',
           action='store_true',
           help='build test files')
 
+AddOption('--setup',
+          action='store_true',
+          help='build setup and installer files')
+
+AddOption('--kaitai',
+          action='store_true',
+          help='Regenerate kaitai struct parsers')
+
 AddOption('--asan',
           action='store_true',
           help='turn on ASAN')
@@ -33,12 +41,21 @@ AddOption('--mpc-generate',
           action='store_true',
           help='regenerates the mpc sources')
 
+AddOption('--snpe',
+          action='store_true',
+          help='use SNPE on PC')
+
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',
           dest='external_sconscript',
           help='add an external SConscript to the build')
 
+AddOption('--no-thneed',
+          action='store_true',
+          dest='no_thneed',
+          help='avoid using thneed')
+
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
@@ -47,7 +64,6 @@ if arch == "aarch64" and TICI:
   arch = "larch64"
 
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
-QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
 
 lenv = {
   "PATH": os.environ['PATH'],
@@ -79,6 +95,9 @@ if arch == "aarch64" or arch == "larch64":
       "#phonelibs/libyuv/larch64/lib",
       "/usr/lib/aarch64-linux-gnu"
     ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
     cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     rpath = ["/usr/local/lib"]
@@ -88,34 +107,36 @@ if arch == "aarch64" or arch == "larch64":
       "#phonelibs/libyuv/lib",
       "/system/vendor/lib64"
     ]
-    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
     rpath = []
-
-    if QCOM_REPLAY:
-      cflags += ["-DQCOM_REPLAY"]
-      cxxflags += ["-DQCOM_REPLAY"]
 else:
   cflags = []
   cxxflags = []
   cpppath = []
 
   if arch == "Darwin":
+    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
-      "#phonelibs/libyuv/mac/lib",
-      "#cereal",
-      "#selfdrive/common",
+      f"#phonelibs/libyuv/{yuv_dir}/lib",
       "/usr/local/lib",
+      "/opt/homebrew/lib",
       "/usr/local/opt/openssl/lib",
+      "/opt/homebrew/opt/openssl/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
-    cpppath += ["/usr/local/opt/openssl/include"]
+    cpppath += [
+      "/opt/homebrew/include",
+      "/usr/local/opt/openssl/include",
+      "/opt/homebrew/opt/openssl/include"
+    ]
   else:
     libpath = [
       "#phonelibs/snpe/x86_64-linux-clang",
       "#phonelibs/libyuv/x64/lib",
+      "#phonelibs/mapbox-gl-native-qt/x86_64",
       "#cereal",
       "#selfdrive/common",
       "/usr/lib",
@@ -141,6 +162,10 @@ else:
   ccflags = []
   ldflags = []
 
+# no --as-needed on mac linker
+if arch != "Darwin":
+  ldflags += ["-Wl,--as-needed"]
+
 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path
 
@@ -162,7 +187,6 @@ env = Environment(
 
   CPPPATH=cpppath + [
     "#",
-    "#selfdrive",
     "#phonelibs/catch2/include",
     "#phonelibs/bzip2",
     "#phonelibs/libyuv/include",
@@ -175,19 +199,11 @@ env = Environment(
     "#phonelibs/android_system_core/include",
     "#phonelibs/linux/include",
     "#phonelibs/snpe/include",
+    "#phonelibs/mapbox-gl-native-qt/include",
     "#phonelibs/nanovg",
     "#phonelibs/qrcode",
-    "#selfdrive/boardd",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#selfdrive/sensord",
-    "#selfdrive/ui",
+    "#phonelibs",
     "#cereal",
-    "#cereal/messaging",
-    "#cereal/visionipc",
     "#opendbc/can",
   ],
 
@@ -214,15 +230,10 @@ env = Environment(
 if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
-if os.environ.get('SCONS_CACHE'):
-  cache_dir = '/tmp/scons_cache'
-  if TICI:
-    cache_dir = '/data/scons_cache'
-
-  if QCOM_REPLAY:
-    cache_dir = '/tmp/scons_cache_qcom_replay'
-
-  CacheDir(cache_dir)
+# Setup cache dir
+cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
 
 node_interval = 5
 node_count = 0
@@ -263,66 +274,75 @@ else:
 Export('envCython')
 
 # Qt build environment
-qt_env = None
-if arch in ["x86_64", "Darwin", "larch64"]:
-  qt_env = env.Clone()
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
+if arch != "aarch64":
+  qt_modules += ["DBus"]
 
-  qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network", "Concurrent", "WebEngine", "WebEngineWidgets"]
-
-  qt_libs = []
-  if arch == "Darwin":
-    qt_env['QTDIR'] = "/usr/local/opt/qt"
-    QT_BASE = "/usr/local/opt/qt/"
-    qt_dirs = [
-      QT_BASE + "include/",
-    ]
-    qt_dirs += [f"{QT_BASE}include/Qt{m}" for m in qt_modules]
-    qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
-    qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+qt_libs = []
+if arch == "Darwin":
+  if real_arch == "arm64":
+    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
   else:
-    qt_env['QTDIR'] = "/usr"
-    qt_dirs = [
-      f"/usr/include/{real_arch}-linux-gnu/qt5",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
-    ]
-    qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
-
-    qt_libs = [f"Qt5{m}" for m in qt_modules]
-    if arch == "larch64":
-      qt_libs += ["GLESv2", "wayland-client"]
-    elif arch != "Darwin":
-      qt_libs += ["GL"]
-
-  qt_env.Tool('qt')
-  qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
-  qt_flags = [
-    "-D_REENTRANT",
-    "-DQT_NO_DEBUG",
-    "-DQT_WIDGETS_LIB",
-    "-DQT_GUI_LIB",
-    "-DQT_CORE_LIB"
+    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
   ]
-  qt_env['CXXFLAGS'] += qt_flags
-  qt_env['LIBPATH'] += ['#selfdrive/ui']
-  qt_env['LIBS'] = qt_libs
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+elif arch == "aarch64":
+  qt_env['QTDIR'] = "/system/comma/usr"
+  qt_dirs = [
+    f"/system/comma/usr/include/qt",
+  ]
+  qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
 
-  if GetOption("clazy"):
-    checks = [
-      "level0",
-      "level1",
-      "no-range-loop",
-      "no-non-pod-global-static",
-    ]
-    qt_env['CXX'] = 'clazy'
-    qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
-    qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
-Export('qt_env')
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  qt_libs += ['EGL', 'GLESv3', 'c++_shared']
+else:
+  qt_env['QTDIR'] = "/usr"
+  qt_dirs = [
+    f"/usr/include/{real_arch}-linux-gnu/qt5",
+    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+  ]
+  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
 
+  qt_libs = [f"Qt5{m}" for m in qt_modules]
+  if arch == "larch64":
+    qt_libs += ["GLESv2", "wayland-client"]
+  elif arch != "Darwin":
+    qt_libs += ["GL"]
 
-# still needed for apks
-zmq = 'zmq'
-Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+qt_env.Tool('qt')
+qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_QUICK_LIB",
+  "-DQT_QUICKWIDGETS_LIB",
+  "-DQT_QML_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBS'] = qt_libs
+
+if GetOption("clazy"):
+  checks = [
+    "level0",
+    "level1",
+    "no-range-loop",
+    "no-non-pod-global-static",
+  ]
+  qt_env['CXX'] = 'clazy'
+  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
+  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
+
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -347,10 +367,33 @@ else:
 
 Export('common', 'gpucommon', 'visionipc')
 
+# Build rednose library and ekf models
+
+rednose_config = {
+  'generated_folder': '#selfdrive/locationd/models/generated',
+  'to_build': {
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+  },
+}
+
+if arch != "aarch64":
+  rednose_config['to_build'].update({
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+  })
+
+Export('rednose_config')
+SConscript(['rednose/SConscript'])
 
 # Build openpilot
 
 SConscript(['cereal/SConscript'])
+SConscript(['panda/board/SConscript'])
 SConscript(['opendbc/can/SConscript'])
 
 SConscript(['phonelibs/SConscript'])
@@ -364,8 +407,8 @@ SConscript(['selfdrive/modeld/SConscript'])
 
 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/controls/lib/lead_mpc_lib/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
@@ -374,17 +417,12 @@ SConscript(['selfdrive/clocksd/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/locationd/models/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 
 if arch != "Darwin":
   SConscript(['selfdrive/logcatd/SConscript'])
 
-if real_arch == "x86_64":
-  SConscript(['tools/nui/SConscript'])
-  SConscript(['tools/lib/index_log/SConscript'])
-
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
   SConscript([external_sconscript])

cereal/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'zmq', 'QCOM_REPLAY')
+Import('env', 'envCython', 'arch')
 
 import shutil
 
@@ -40,13 +40,6 @@ messaging_objects = env.SharedObject([
 messaging_lib = env.Library('messaging', messaging_objects)
 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
-if arch == "aarch64":
-  zmq_static = FindFile("libzmq.a", "/usr/lib")
-  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
-  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)
 
@@ -61,7 +54,7 @@ vipc_sources = [
   'visionipc/visionbuf.cc',
 ]
 
-if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
+if arch in ["aarch64", "larch64"]:
   vipc_sources += ['visionipc/visionbuf_ion.cc']
 else:
   vipc_sources += ['visionipc/visionbuf_cl.cc']
@@ -71,6 +64,8 @@ vipc = env.Library('visionipc', vipc_objects)
 
 
 libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
+if arch == "aarch64":
+  libs += ["adreno_utils"]
 if arch == "Darwin":
   del libs[libs.index('OpenCL')]
   envCython['FRAMEWORKS'] += ['OpenCL']

cereal/car.capnp

@@ -52,8 +52,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     manualRestart @30;
     lowSpeedLockout @31;
     plannerError @32;
-    debugAlert @34;
-    steerTempUnavailableMute @35;
+    joystickDebug @34;
+    steerTempUnavailableSilent @35;
     resumeRequired @36;
     preDriverDistracted @37;
     promptDriverDistracted @38;
@@ -64,7 +64,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     belowSteerSpeed @46;
     lowBattery @48;
     vehicleModelInvalid @50;
-    controlsFailed @51;
+    accFaulted @51;
     sensorDataInvalid @52;
     commIssue @53;
     tooDistracted @54;
@@ -78,7 +78,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     stockAeb @64;
     ldw @65;
     carUnrecognized @66;
-    driverMonitorLowAcc @68;
     invalidLkasSetting @69;
     speedTooHigh @70;
     laneChangeBlocked @71;
@@ -89,6 +88,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupNoCar @76;
     startupNoControl @77;
     startupMaster @78;
+    startupFuzzyFingerprint @97;
+    startupNoFw @104;
     fcw @79;
     steerSaturated @80;
     belowEngageSpeed @84;
@@ -99,9 +100,16 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     fanMalfunction @91;
     cameraMalfunction @92;
     gpsMalfunction @94;
-    startupOneplus @82;
     processNotRunning @95;
+    dashcamMode @96;
+    controlsInitializing @98;
+    usbError @99;
+    roadCameraError @100;
+    driverCameraError @101;
+    wideRoadCameraError @102;
+    localizerMalfunction @103;
 
+    driverMonitorLowAccDEPRECATED @68;
     radarCanErrorDEPRECATED @15;
     radarCommIssueDEPRECATED @67;
     gasUnavailableDEPRECATED @3;
@@ -120,6 +128,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     focusRecoverActiveDEPRECATED @86;
     neosUpdateRequiredDEPRECATED @88;
     modelLagWarningDEPRECATED @93;
+    startupOneplusDEPRECATED @82;
   }
 }
 
@@ -144,7 +153,6 @@ struct CarState {
   # brake pedal, 0.0-1.0
   brake @5 :Float32;      # this is user pedal only
   brakePressed @6 :Bool;  # this is user pedal only
-  brakeLights @19 :Bool;
 
   # steering wheel
   steeringAngleDeg @7 :Float32;
@@ -238,6 +246,7 @@ struct CarState {
   }
 
   errorsDEPRECATED @0 :List(CarEvent.EventName);
+  brakeLightsDEPRECATED @19 :Bool;
 }
 
 # ******* radar state @ 20hz *******
@@ -350,12 +359,14 @@ struct CarControl {
 struct CarParams {
   carName @0 :Text;
   carFingerprint @1 :Text;
+  fuzzyFingerprint @55 :Bool;
 
   enableGasInterceptor @2 :Bool;
-  enableCruise @3 :Bool;
-  enableCamera @4 :Bool;
-  enableDsu @5 :Bool; # driving support unit
-  enableApgs @6 :Bool; # advanced parking guidance system
+  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
+  enableDsu @5 :Bool;        # driving support unit
+  enableApgs @6 :Bool;       # advanced parking guidance system
+  enableBsm @56 :Bool;       # blind spot monitoring
+  hasStockCamera @57 :Bool;  # factory LKAS/LDW camera is present
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
@@ -372,11 +383,11 @@ struct CarParams {
   brakeMaxV @16 :List(Float32);
 
   # things about the car in the manual
-  mass @17 :Float32;             # [kg] running weight
-  wheelbase @18 :Float32;        # [m] distance from rear to front axle
-  centerToFront @19 :Float32;   # [m] GC distance to front axle
-  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
+  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
+  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
+  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
+  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)
 
   # things we can derive
   rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
@@ -411,6 +422,7 @@ struct CarParams {
   dashcamOnly @41: Bool;
   transmissionType @43 :TransmissionType;
   carFw @44 :List(CarFw);
+
   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;
@@ -506,6 +518,7 @@ struct CarParams {
     automatic @1;  # Traditional auto, including DSG
     manual @2;  # True "stick shift" only
     direct @3;  # Electric vehicle or other direct drive
+    cvt @4;
   }
 
   struct CarFw {
@@ -550,5 +563,6 @@ struct CarParams {
     gateway @1;    # Integration at vehicle's CAN gateway
   }
 
+  enableCameraDEPRECATED @4 :Bool;
   isPandaBlackDEPRECATED @39: Bool;
 }

cereal/legacy.capnp

@@ -21,6 +21,21 @@ struct LiveUI @0xc08240f996aefced {
   awarenessStatus @3 :Float32;
 }
 
+struct UiLayoutState @0x88dcce08ad29dda0 {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
+
+  enum App @0x9917470acf94d285 {
+    home @0;
+    music @1;
+    nav @2;
+    settings @3;
+    none @4;
+  }
+}
+
 struct OrbslamCorrection @0x8afd33dc9b35e1aa {
   correctionMonoTime @0 :UInt64;
   prePositionECEF @1 :List(Float64);

cereal/log.capnp

@@ -23,6 +23,7 @@ struct Map(Key, Value) {
 struct InitData {
   kernelArgs @0 :List(Text);
   kernelVersion @15 :Text;
+  osVersion @18 :Text;
 
   gctx @1 :Text;
   dongleId @2 :Text;
@@ -39,7 +40,7 @@ struct InitData {
 
   dirty @9 :Bool;
   passive @12 :Bool;
-  params @17 :Map(Text, Text);
+  params @17 :Map(Text, Data);
 
   enum DeviceType {
     unknown @0;
@@ -122,27 +123,38 @@ struct InitData {
 struct FrameData {
   frameId @0 :UInt32;
   encodeId @1 :UInt32; # DEPRECATED
-  timestampEof @2 :UInt64;
+
+  frameType @7 :FrameType;
   frameLength @3 :Int32;
+
+  # Timestamps
+  timestampEof @2 :UInt64;
+  timestampSof @8 :UInt64;
+
+  # Exposure
   integLines @4 :Int32;
-  globalGain @5 :Int32;
+  highConversionGain @20 :Bool;
+  gain @15 :Float32; # This includes highConversionGain if enabled
+  measuredGreyFraction @21 :Float32;
+  targetGreyFraction @22 :Float32;
+
+  # Focus
   lensPos @11 :Int32;
   lensSag @12 :Float32;
   lensErr @13 :Float32;
   lensTruePos @14 :Float32;
-  image @6 :Data;
-  gainFrac @15 :Float32;
   focusVal @16 :List(Int16);
   focusConf @17 :List(UInt8);
   sharpnessScore @18 :List(UInt16);
   recoverState @19 :Int32;
 
-  frameType @7 :FrameType;
-  timestampSof @8 :UInt64;
   transform @10 :List(Float32);
 
   androidCaptureResult @9 :AndroidCaptureResult;
 
+  image @6 :Data;
+  globalGainDEPRECATED @5 :Int32;
+
   enum FrameType {
     unknown @0;
     neo @1;
@@ -211,6 +223,8 @@ struct SensorEventData {
     mmc3416x @7;  # magnetometer (c2)
     bmx055 @8;
     rpr0521 @9;
+    lsm6ds3trc @10;
+    mmc5603nj @11;
   }
 }
 
@@ -278,8 +292,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   freeSpacePercent @7 :Float32;
   memoryUsagePercent @19 :Int8;
   cpuUsagePercent @20 :Int8;
+  gpuUsagePercent @33 :Int8;
   usbOnline @12 :Bool;
   networkType @22 :NetworkType;
+  networkInfo @31 :NetworkInfo;
   offroadPowerUsageUwh @23 :UInt32;
   networkStrength @24 :NetworkStrength;
   carBatteryCapacityUwh @25 :UInt32;
@@ -288,6 +304,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   started @11 :Bool;
   startedMonoTime @13 :UInt64;
 
+  lastAthenaPingTime @32 :UInt64;
+
   # power
   batteryPercent @8 :Int16;
   batteryStatus @9 :Text;
@@ -318,6 +336,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
     cell3G @3;
     cell4G @4;
     cell5G @5;
+    ethernet @6;
   }
 
   enum NetworkStrength {
@@ -328,6 +347,15 @@ struct DeviceState @0xa4d8b5af2aa492eb {
     great @4;
   }
 
+  struct NetworkInfo {
+    technology @0 :Text;
+    operator @1 :Text;
+    band @2 :Text;
+    channel @3 :UInt16;
+    extra @4 :Text;
+    state @5 :Text;
+  }
+
   # deprecated
   cpu0DEPRECATED @0 :UInt16;
   cpu1DEPRECATED @1 :UInt16;
@@ -356,10 +384,13 @@ struct PandaState @0xa7649e2575e4591e {
   usbPowerMode @12 :UsbPowerMode;
   ignitionCan @13 :Bool;
   safetyModel @14 :Car.CarParams.SafetyModel;
+  safetyParam @20 :Int16;
   faultStatus @15 :FaultStatus;
   powerSaveEnabled @16 :Bool;
   uptime @17 :UInt32;
   faults @18 :List(FaultType);
+  harnessStatus @21 :HarnessStatus;
+  heartbeatLost @22 :Bool;
 
   enum FaultStatus {
     none @0;
@@ -389,7 +420,7 @@ struct PandaState @0xa7649e2575e4591e {
     registerDivergent @18;
     interruptRateKlineInit @19;
     interruptRateClockSource @20;
-    interruptRateTim9 @21;
+    interruptRateTick @21;
     # Update max fault type in boardd when adding faults
   }
 
@@ -401,6 +432,7 @@ struct PandaState @0xa7649e2575e4591e {
     pedal @4;
     uno @5;
     dos @6;
+    red @7;
   }
 
   enum UsbPowerMode {
@@ -410,6 +442,12 @@ struct PandaState @0xa7649e2575e4591e {
     dcp @3;
   }
 
+  enum HarnessStatus {
+    notConnected @0;
+    normal @1;
+    flipped @2;
+  }
+
   startedSignalDetectedDEPRECATED @5 :Bool;
 }
 
@@ -500,7 +538,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   uiAccelCmd @5 :Float32;
   ufAccelCmd @33 :Float32;
   aTarget @35 :Float32;
-  steeringAngleDesiredDeg @29 :Float32;
   curvature @37 :Float32;  # path curvature from vehicle model
   forceDecel @51 :Bool;
 
@@ -521,6 +558,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     indiState @52 :LateralINDIState;
     pidState @53 :LateralPIDState;
     lqrState @55 :LateralLQRState;
+    angleState @58 :LateralAngleState;
+    debugState @59 :LateralDebugState;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -585,6 +624,20 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @5 :Bool;
   }
 
+  struct LateralAngleState {
+    active @0 :Bool;
+    steeringAngleDeg @1 :Float32;
+    output @2 :Float32;
+    saturated @3 :Bool;
+  }
+
+  struct LateralDebugState {
+    active @0 :Bool;
+    steeringAngleDeg @1 :Float32;
+    output @2 :Float32;
+    saturated @3 :Bool;
+  }
+
   # deprecated
   vEgoDEPRECATED @0 :Float32;
   vEgoRawDEPRECATED @32 :Float32;
@@ -613,6 +666,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   mapValidDEPRECATED @49 :Bool;
   jerkFactorDEPRECATED @12 :Float32;
   steerOverrideDEPRECATED @20 :Bool;
+  steeringAngleDesiredDegDEPRECATED @29 :Float32;
 }
 
 struct ModelDataV2 {
@@ -639,6 +693,7 @@ struct ModelDataV2 {
 
   # predicted lead cars
   leads @11 :List(LeadDataV2);
+  leadsV3 @18 :List(LeadDataV3);
 
   meta @12 :MetaData;
 
@@ -664,13 +719,46 @@ struct ModelDataV2 {
     xyvaStd @3 :List(Float32);
   }
 
+  struct LeadDataV3 {
+    prob @0 :Float32; # probability that car is your lead at time t
+    probTime @1 :Float32;
+    t @2 :List(Float32);
+
+    # x and y are relative position in device frame
+    # v absolute norm speed
+    # a is derivative of v
+    x @3 :List(Float32);
+    xStd @4 :List(Float32);
+    y @5 :List(Float32);
+    yStd @6 :List(Float32);
+    v @7 :List(Float32);
+    vStd @8 :List(Float32);
+    a @9 :List(Float32);
+    aStd @10 :List(Float32);
+  }
+
+
   struct MetaData {
     engagedProb @0 :Float32;
     desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
     desireState @5 :List(Float32);
+    disengagePredictions @6 :DisengagePredictions;
+    hardBrakePredicted @7 :Bool;
+
+    # deprecated
+    brakeDisengageProbDEPRECATED @2 :Float32;
+    gasDisengageProbDEPRECATED @3 :Float32;
+    steerOverrideProbDEPRECATED @4 :Float32;
+  }
+
+  struct DisengagePredictions {
+    t @0 :List(Float32);
+    brakeDisengageProbs @1 :List(Float32);
+    gasDisengageProbs @2 :List(Float32);
+    steerOverrideProbs @3 :List(Float32);
+    brake3MetersPerSecondSquaredProbs @4 :List(Float32);
+    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
+    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
   }
 }
 
@@ -710,34 +798,35 @@ struct AndroidLogEntry {
 }
 
 struct LongitudinalPlan @0xe00b5b3eba12876c {
-  mdMonoTime @9 :UInt64;
-  radarStateMonoTime @10 :UInt64;
-
-  vCruise @16 :Float32;
-  aCruise @17 :Float32;
-  vTarget @3 :Float32;
-  vTargetFuture @14 :Float32;
-  vMax @20 :Float32;
-  aTarget @18 :Float32;
-
-  vStart @26 :Float32;
-  aStart @27 :Float32;
-
+  modelMonoTime @9 :UInt64;
   hasLead @7 :Bool;
   fcw @8 :Bool;
   longitudinalPlanSource @15 :LongitudinalPlanSource;
-
   processingDelay @29 :Float32;
 
+  # desired speed/accel/jerk over next 2.5s
+  accels @32 :List(Float32);
+  speeds @33 :List(Float32);
+  jerks @34 :List(Float32);
+
   enum LongitudinalPlanSource {
     cruise @0;
-    mpc1 @1;
-    mpc2 @2;
-    mpc3 @3;
-    model @4;
+    lead0 @1;
+    lead1 @2;
+    lead2 @3;
+    e2e @4;
   }
 
   # deprecated
+  vCruiseDEPRECATED @16 :Float32;
+  aCruiseDEPRECATED @17 :Float32;
+  vTargetDEPRECATED @3 :Float32;
+  vTargetFutureDEPRECATED @14 :Float32;
+  aTargetDEPRECATED @18 :Float32;
+  vStartDEPRECATED @26 :Float32;
+  aStartDEPRECATED @27 :Float32;
+  vMaxDEPRECATED @20 :Float32;
+  radarStateMonoTimeDEPRECATED @10 :UInt64;
   jerkFactorDEPRECATED @6 :Float32;
   hasLeftLaneDEPRECATED @23 :Bool;
   hasRightLaneDEPRECATED @24 :Bool;
@@ -770,14 +859,17 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
   dPathPoints @20 :List(Float32);
   dProb @21 :Float32;
 
-  steeringAngleDeg @8 :Float32; # deg
-  steeringRateDeg @13 :Float32; # deg/s
   mpcSolutionValid @9 :Bool;
-  angleOffsetDeg @11 :Float32;
   desire @17 :Desire;
   laneChangeState @18 :LaneChangeState;
   laneChangeDirection @19 :LaneChangeDirection;
 
+
+  # desired curvatures over next 2.5s in rad/m
+  psis @26 :List(Float32);
+  curvatures @27 :List(Float32);
+  curvatureRates @28 :List(Float32);
+
   enum Desire {
     none @0;
     turnLeft @1;
@@ -802,6 +894,10 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
   }
 
   # deprecated
+  curvatureDEPRECATED @22 :Float32;
+  curvatureRateDEPRECATED @23 :Float32;
+  rawCurvatureDEPRECATED @24 :Float32;
+  rawCurvatureRateDEPRECATED @25 :Float32;
   cProbDEPRECATED @3 :Float32;
   dPolyDEPRECATED @1 :List(Float32);
   cPolyDEPRECATED @2 :List(Float32);
@@ -812,6 +908,9 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
   posenetValidDEPRECATED @16 :Bool;
   sensorValidDEPRECATED @14 :Bool;
   paramsValidDEPRECATED @10 :Bool;
+  steeringAngleDegDEPRECATED @8 :Float32; # deg
+  steeringRateDegDEPRECATED @13 :Float32; # deg/s
+  angleOffsetDegDEPRECATED @11 :Float32;
 }
 
 struct LiveLocationKalman {
@@ -852,6 +951,8 @@ struct LiveLocationKalman {
   gpsOK @19 :Bool = true;
   sensorsOK @21 :Bool = true;
   deviceStable @22 :Bool = true;
+  timeSinceReset @23 :Float64;
+  excessiveResets @24 :Bool;
 
   enum Status {
     uninitialized @0;
@@ -1055,6 +1156,7 @@ struct UbloxGnss {
     aStatus @2 :AntennaSupervisorState;
     aPower @3 :AntennaPowerStatus;
     jamInd @4 :UInt8;
+    flags @5 :UInt8;
 
     enum AntennaSupervisorState {
       init @0;
@@ -1102,7 +1204,7 @@ struct LiveMpcData {
   x @0 :List(Float32);
   y @1 :List(Float32);
   psi @2 :List(Float32);
-  delta @3 :List(Float32);
+  curvature @3 :List(Float32);
   qpIterations @4 :UInt32;
   calculationTime @5 :UInt64;
   cost @6 :Float64;
@@ -1122,21 +1224,6 @@ struct LiveLongitudinalMpcData {
   cost @10 :Float64;
 }
 
-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;
-  }
-}
-
 struct Joystick {
   # convenient for debug and live tuning
   axes @0: List(Float32);
@@ -1163,6 +1250,8 @@ struct DriverState {
   partialFace @18 :Float32;
   distractedPose @19 :Float32;
   distractedEyes @20 :Float32;
+  eyesOnRoad @21 :Float32;
+  phoneUse @22 :Float32;
 
   irPwrDEPRECATED @10 :Float32;
   descriptorDEPRECATED @1 :List(Float32);
@@ -1192,9 +1281,11 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
 
 struct Boot {
   wallTimeNanos @0 :UInt64;
-  lastKmsg @1 :Data;
-  lastPmsg @2 :Data;
+  pstore @4 :Map(Text, Data);
   launchLog @3 :Text;
+
+  lastKmsgDEPRECATED @1 :Data;
+  lastPmsgDEPRECATED @2 :Data;
 }
 
 struct LiveParametersData {
@@ -1247,6 +1338,7 @@ struct Sentinel {
     startOfRoute @3;
   }
   type @0 :SentinelType;
+  signal @1 :Int32;
 }
 
 struct ManagerState {
@@ -1260,6 +1352,18 @@ struct ManagerState {
   }
 }
 
+struct UploaderState {
+  immediateQueueSize @0 :UInt32;
+  immediateQueueCount @1 :UInt32;
+  rawQueueSize @2 :UInt32;
+  rawQueueCount @3 :UInt32;
+
+  # stats for last successfully uploaded file
+  lastTime @4 :Float32;  # s
+  lastSpeed @5 :Float32; # MB/s
+  lastFilename @6 :Text;
+}
+
 struct Event {
   logMonoTime @0 :UInt64;  # nanoseconds
   valid @67 :Bool = true;
@@ -1282,17 +1386,13 @@ struct Event {
     liveTracks @16 :List(LiveTracks);
     sendcan @17 :List(CanData);
     liveCalibration @19 :LiveCalibrationData;
-    gpsLocation @21 :GpsLocationData;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     longitudinalPlan @24 :LongitudinalPlan;
     lateralPlan @64 :LateralPlan;
     ubloxGnss @34 :UbloxGnss;
-    liveMpc @36 :LiveMpcData;
-    liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
     ubloxRaw @39 :Data;
     gpsLocationExternal @48 :GpsLocationData;
-    uiLayoutState @57 :UiLayoutState;
     driverState @59 :DriverState;
     liveParameters @61 :LiveParametersData;
     cameraOdometry @63 :CameraOdometry;
@@ -1314,6 +1414,7 @@ struct Event {
     # systems stuff
     androidLog @20 :AndroidLogEntry;
     managerState @78 :ManagerState;
+    uploaderState @79 :UploaderState;
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
@@ -1325,6 +1426,8 @@ struct Event {
 
     # *********** legacy + deprecated ***********
     model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    liveMpcDEPRECATED @36 :LiveMpcData;
+    liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
     liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData;
     orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
     liveUIDEPRECATED @14 :Legacy.LiveUI;
@@ -1356,5 +1459,7 @@ struct Event {
     orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
     featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
     kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
+    gpsLocationDEPRECATED @21 :GpsLocationData;
+    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
   }
 }

cereal/messaging/__init__.py

@@ -1,9 +1,11 @@
 # must be build with scons
 from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
+import os
 import capnp
 
 from typing import Optional, List, Union
+from collections import deque
 
 from cereal import log
 from cereal.services import service_list
@@ -11,6 +13,9 @@ from cereal.services import service_list
 assert MultiplePublishersError
 assert MessagingError
 
+AVG_FREQ_HISTORY = 100
+SIMULATION = "SIMULATION" in os.environ
+
 # sec_since_boot is faster, but allow to run standalone too
 try:
   from common.realtime import sec_since_boot
@@ -126,12 +131,14 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
 
 class SubMaster():
   def __init__(self, services: List[str], poll: Optional[List[str]] = None,
-               ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
+               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
+               addr: str = "127.0.0.1"):
     self.frame = -1
     self.updated = {s: False for s in services}
     self.rcv_time = {s: 0. for s in services}
     self.rcv_frame = {s: 0 for s in services}
     self.alive = {s: False for s in services}
+    self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
     self.sock = {}
     self.freq = {}
     self.data = {}
@@ -142,10 +149,8 @@ class SubMaster():
     self.non_polled_services = [s for s in services if poll is not None and
                                 len(poll) and s not in poll]
 
-    if ignore_alive is not None:
-      self.ignore_alive = ignore_alive
-    else:
-      self.ignore_alive = []
+    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
+    self.ignore_alive = [] if ignore_alive is None else ignore_alive
 
     for s in services:
       if addr is not None:
@@ -184,20 +189,34 @@ class SubMaster():
 
       s = msg.which()
       self.updated[s] = True
+
+      if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
+        and (s not in self.ignore_average_freq):
+        self.recv_dts[s].append(cur_time - self.rcv_time[s])
+
       self.rcv_time[s] = cur_time
       self.rcv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.data:
-      # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
-      if self.freq[s] > 1e-5:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
-      else:
+      if SIMULATION:
         self.alive[s] = True
 
+    if not SIMULATION:
+      for s in self.data:
+        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
+        if self.freq[s] > 1e-5:
+          # alive if delay is within 10x the expected frequency
+          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
+
+          # alive if average frequency is higher than 90% of expected frequency
+          avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
+          expected_dt = 1 / (self.freq[s] * 0.90)
+          self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
+        else:
+          self.alive[s] = True
+
   def all_alive(self, service_list=None) -> bool:
     if service_list is None:  # check all
       service_list = self.alive.keys()
@@ -223,3 +242,6 @@ class PubMaster():
     if not isinstance(dat, bytes):
       dat = dat.to_bytes()
     self.sock[s].send(dat)
+
+  def all_readers_updated(self, s: str) -> bool:
+    return self.sock[s].all_readers_updated()

cereal/messaging/bridge.cc

@@ -1,59 +1,74 @@
-#include <iostream>
-#include <string>
+#include <algorithm>
 #include <cassert>
 #include <csignal>
+#include <iostream>
 #include <map>
+#include <string>
 
 typedef void (*sighandler_t)(int sig);
 
+#include "impl_msgq.h"
+#include "impl_zmq.h"
 #include "services.h"
 
-#include "impl_msgq.hpp"
-#include "impl_zmq.hpp"
-
 void sigpipe_handler(int sig) {
   assert(sig == SIGPIPE);
   std::cout << "SIGPIPE received" << std::endl;
 }
 
-static std::vector<std::string> get_services() {
-  std::vector<std::string> name_list;
-
+static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
+  std::vector<std::string> service_list;
   for (const auto& it : services) {
     std::string name = it.name;
-    if (name == "plusFrame" || name == "uiLayoutState") continue;
-    name_list.push_back(name);
+    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
+    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
+      continue;
+    }
+    service_list.push_back(name);
   }
-
-  return name_list;
+  return service_list;
 }
 
-
-int main(void){
+int main(int argc, char** argv) {
   signal(SIGPIPE, (sighandler_t)sigpipe_handler);
 
-  auto endpoints = get_services();
+  bool zmq_to_msgq = argc > 2;
+  std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
+  std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
 
-  std::map<SubSocket*, PubSocket*> sub2pub;
-
-  Context *zmq_context = new ZMQContext();
-  Context *msgq_context = new MSGQContext();
-  Poller *poller = new MSGQPoller();
-
-  for (auto endpoint: endpoints){
-    SubSocket * msgq_sock = new MSGQSubSocket();
-    msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false);
-    poller->registerSocket(msgq_sock);
-
-    PubSocket * zmq_sock = new ZMQPubSocket();
-    zmq_sock->connect(zmq_context, endpoint);
-
-    sub2pub[msgq_sock] = zmq_sock;
+  Poller *poller;
+  Context *pub_context;
+  Context *sub_context;
+  if (zmq_to_msgq) {  // republishes zmq debugging messages as msgq
+    poller = new ZMQPoller();
+    pub_context = new MSGQContext();
+    sub_context = new ZMQContext();
+  } else {
+    poller = new MSGQPoller();
+    pub_context = new ZMQContext();
+    sub_context = new MSGQContext();
   }
 
+  std::map<SubSocket*, PubSocket*> sub2pub;
+  for (auto endpoint: get_services(whitelist_str, zmq_to_msgq)) {
+    PubSocket * pub_sock;
+    SubSocket * sub_sock;
+    if (zmq_to_msgq) {
+      pub_sock = new MSGQPubSocket();
+      sub_sock = new ZMQSubSocket();
+    } else {
+      pub_sock = new ZMQPubSocket();
+      sub_sock = new MSGQSubSocket();
+    }
+    pub_sock->connect(pub_context, endpoint);
+    sub_sock->connect(sub_context, endpoint, ip, false);
 
-  while (true){
-    for (auto sub_sock : poller->poll(100)){
+    poller->registerSocket(sub_sock);
+    sub2pub[sub_sock] = pub_sock;
+  }
+
+  while (true) {
+    for (auto sub_sock : poller->poll(100)) {
       Message * msg = sub_sock->receive();
       if (msg == NULL) continue;
       sub2pub[sub_sock]->sendMessage(msg);

cereal/messaging/impl_msgq.cc

@@ -6,7 +6,7 @@
 #include <cerrno>
 
 #include "services.h"
-#include "impl_msgq.hpp"
+#include "impl_msgq.h"
 
 
 volatile sig_atomic_t msgq_do_exit = 0;
@@ -196,6 +196,10 @@ int MSGQPubSocket::send(char *data, size_t size){
   return msgq_msg_send(&msg, q);
 }
 
+bool MSGQPubSocket::all_readers_updated() {
+  return msgq_all_readers_updated(q);
+}
+
 MSGQPubSocket::~MSGQPubSocket(){
   if (q != NULL){
     msgq_close_queue(q);

cereal/messaging/impl_msgq.h

@@ -1,6 +1,6 @@
 #pragma once
-#include "messaging.hpp"
-#include "msgq.hpp"
+#include "messaging.h"
+#include "msgq.h"
 #include <zmq.h>
 #include <string>
 
@@ -48,6 +48,7 @@ public:
   int connect(Context *context, std::string endpoint, bool check_endpoint=true);
   int sendMessage(Message *message);
   int send(char *data, size_t size);
+  bool all_readers_updated();
   ~MSGQPubSocket();
 };
 

cereal/messaging/impl_zmq.cc

@@ -7,7 +7,7 @@
 #include <zmq.h>
 
 #include "services.h"
-#include "impl_zmq.hpp"
+#include "impl_zmq.h"
 
 static int get_port(std::string endpoint) {
   int port = -1;
@@ -131,6 +131,11 @@ int ZMQPubSocket::send(char *data, size_t size){
   return zmq_send(sock, data, size, ZMQ_DONTWAIT);
 }
 
+bool ZMQPubSocket::all_readers_updated() {
+  assert(false); // TODO not implemented
+  return false;
+}
+
 ZMQPubSocket::~ZMQPubSocket(){
   zmq_close(sock);
 }

cereal/messaging/impl_zmq.h

@@ -1,5 +1,5 @@
 #pragma once
-#include "messaging.hpp"
+#include "messaging.h"
 #include <zmq.h>
 #include <string>
 
@@ -47,6 +47,7 @@ public:
   int connect(Context *context, std::string endpoint, bool check_endpoint=true);
   int sendMessage(Message *message);
   int send(char *data, size_t size);
+  bool all_readers_updated();
   ~ZMQPubSocket();
 };
 

cereal/messaging/messaging.cc

@@ -1,6 +1,6 @@
-#include "messaging.hpp"
-#include "impl_zmq.hpp"
-#include "impl_msgq.hpp"
+#include "messaging.h"
+#include "impl_zmq.h"
+#include "impl_msgq.h"
 
 #ifdef __APPLE__
 const bool MUST_USE_ZMQ = true;

cereal/messaging/messaging.h

@@ -48,6 +48,7 @@ public:
   virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
   virtual int sendMessage(Message *message) = 0;
   virtual int send(char *data, size_t size) = 0;
+  virtual bool all_readers_updated() = 0;
   static PubSocket * create();
   static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
   static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
@@ -65,22 +66,26 @@ public:
 
 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); }
+  SubMaster(const std::vector<const char *> &service_list,
+            const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
+  void update(int timeout = 1000);
+  void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
+  inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
   void drain();
   ~SubMaster();
 
   uint64_t frame = 0;
   bool updated(const char *name) const;
+  bool alive(const char *name) const;
+  bool valid(const char *name) const;
   uint64_t rcv_frame(const char *name) const;
-  cereal::Event::Reader &operator[](const char *name);
+  uint64_t rcv_time(const char *name) const;
+  cereal::Event::Reader &operator[](const char *name) const;
 
 private:
-  bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
+  bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
   Poller *poller_ = nullptr;
   struct SubMessage;
   std::map<SubSocket *, SubMessage *> messages_;
@@ -112,7 +117,7 @@ private:
 
 class PubMaster {
 public:
-  PubMaster(const std::initializer_list<const char *> &service_list);
+  PubMaster(const std::vector<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, MessageBuilder &msg);
   ~PubMaster();
@@ -120,3 +125,21 @@ public:
 private:
   std::map<std::string, PubSocket *> sockets_;
 };
+
+class AlignedBuffer {
+public:
+  kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
+    words_size = size / sizeof(capnp::word) + 1;
+    if (aligned_buf.size() < words_size) {
+      aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
+    }
+    memcpy(aligned_buf.begin(), data, size);
+    return aligned_buf.slice(0, words_size);
+  }
+  inline kj::ArrayPtr<const capnp::word> align(Message *m) {
+    return align(m->getData(), m->getSize());
+  }
+private:
+  kj::Array<capnp::word> aligned_buf;
+  size_t words_size;
+};

cereal/messaging/messaging.pxd

@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool
 
 
-cdef extern from "messaging.hpp":
+cdef extern from "messaging.h":
   cdef cppclass Context:
     @staticmethod
     Context * create()
@@ -31,6 +31,7 @@ cdef extern from "messaging.hpp":
     int connect(Context *, string)
     int sendMessage(Message *)
     int send(char *, size_t)
+    bool all_readers_updated()
 
   cdef cppclass Poller:
     @staticmethod

cereal/messaging/messaging_pyx.pyx

@@ -149,3 +149,6 @@ cdef class PubSocket:
         raise MultiplePublishersError
       else:
         raise MessagingError
+
+  def all_readers_updated(self):
+    return self.socket.all_readers_updated()

cereal/messaging/msgq.cc

@@ -21,7 +21,7 @@
 
 #include <stdio.h>
 
-#include "msgq.hpp"
+#include "msgq.h"
 
 void sigusr2_handler(int signal) {
   assert(signal == SIGUSR2);
@@ -452,3 +452,13 @@ int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
 
   return num;
 }
+
+bool msgq_all_readers_updated(msgq_queue_t *q) {
+  uint64_t num_readers = *q->num_readers;
+  for (uint64_t i = 0; i < num_readers; i++) {
+    if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
+      return false;
+    }
+  }
+  return num_readers > 0;
+}

cereal/messaging/msgq.h

@@ -5,7 +5,7 @@
 #include <atomic>
 
 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 8
+#define NUM_READERS 10
 #define ALIGN(n) ((n + (8 - 1)) & -8)
 
 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
@@ -64,3 +64,5 @@ int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
 int msgq_msg_ready(msgq_queue_t * q);
 int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
+
+bool msgq_all_readers_updated(msgq_queue_t *q);

cereal/messaging/socketmaster.cc

@@ -1,7 +1,13 @@
-#include <assert.h>
 #include <time.h>
-#include "messaging.hpp"
+#include <assert.h>
+#include <stdlib.h>
+#include <string>
+#include <mutex>
+
 #include "services.h"
+#include "messaging.h"
+
+const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
 static inline uint64_t nanos_since_boot() {
   struct timespec t;
@@ -16,7 +22,7 @@ static const service *get_service(const char *name) {
   return nullptr;
 }
 
-static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
+static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;
   }
@@ -25,89 +31,106 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
 
 class MessageContext {
 public:
-  MessageContext() { ctx_ = Context::create(); }
+  MessageContext() : ctx_(nullptr) {};
   ~MessageContext() { delete ctx_; }
+  inline Context *context() {
+    std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
+    return ctx_;
+  }
+private:
   Context *ctx_;
+  std::once_flag init_flag;
 };
-MessageContext ctx;
+
+MessageContext message_context;
 
 struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
   int freq = 0;
-  bool updated = false, alive = false, valid = false, ignore_alive;
+  bool updated = false, alive = false, valid = true, 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;
+  AlignedBuffer aligned_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) {
+SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
+                     const std::vector<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);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
     assert(socket != 0);
     poller_->registerSocket(socket);
     SubMessage *m = new SubMessage{
+      .name = name,
       .socket = socket,
       .freq = serv->frequency,
       .ignore_alive = inList(ignore_alive, name),
-      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
-      .buf = kj::heapArray<capnp::word>(1024)};
+      .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
     messages_[socket] = m;
     services_[name] = m;
   }
 }
 
-int SubMaster::update(int timeout) {
-  if (++frame == UINT64_MAX) frame = 1;
+void SubMaster::update(int timeout) {
   for (auto &kv : messages_) kv.second->updated = false;
 
-  int updated = 0;
   auto sockets = poller_->poll(timeout);
   uint64_t current_time = nanos_since_boot();
+
+  std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
+
   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->~FlatArrayMessageReader();
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
+    delete msg;
+    messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
+  }
+
+  update_msgs(current_time, messages);
+}
+
+void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
+  if (++frame == UINT64_MAX) frame = 1;
+
+  for(auto &kv : messages) {
+    auto m_find = services_.find(kv.first);
+    if (m_find == services_.end()){
+      continue;
     }
-    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>();
+    SubMessage *m = m_find->second;
+    m->event = kv.second;
     m->updated = true;
     m->rcv_time = current_time;
     m->rcv_frame = frame;
     m->valid = m->event.getValid();
-
-    ++updated;
+    if (SIMULATION) m->alive = true;
   }
 
-  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));
+  if (!SIMULATION) {
+    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) {
+bool SubMaster::all_(const std::vector<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));
+      found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
     }
   }
   return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
@@ -130,11 +153,23 @@ bool SubMaster::updated(const char *name) const {
   return services_.at(name)->updated;
 }
 
+bool SubMaster::alive(const char *name) const {
+  return services_.at(name)->alive;
+}
+
+bool SubMaster::valid(const char *name) const {
+  return services_.at(name)->valid;
+}
+
 uint64_t SubMaster::rcv_frame(const char *name) const {
   return services_.at(name)->rcv_frame;
 }
 
-cereal::Event::Reader &SubMaster::operator[](const char *name) {
+uint64_t SubMaster::rcv_time(const char *name) const {
+  return services_.at(name)->rcv_time;
+}
+
+cereal::Event::Reader &SubMaster::operator[](const char *name) const {
   return services_.at(name)->event;
 };
 
@@ -142,19 +177,17 @@ SubMaster::~SubMaster() {
   delete poller_;
   for (auto &kv : messages_) {
     SubMessage *m = kv.second;
-    if (m->msg_reader) {
-      m->msg_reader->~FlatArrayMessageReader();
-    }
+    m->msg_reader->~FlatArrayMessageReader();
     free(m->allocated_msg_reader);
     delete m->socket;
     delete m;
   }
 }
 
-PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
+PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
     assert(get_service(name) != nullptr);
-    PubSocket *socket = PubSocket::create(ctx.ctx_, name);
+    PubSocket *socket = PubSocket::create(message_context.context(), name);
     assert(socket);
     sockets_[name] = socket;
   }

cereal/services.py

@@ -2,7 +2,15 @@
 import os
 from typing import Optional
 
-EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')
+RESERVED_PORT = 8022  # sshd
+STARTING_PORT = 8001
+
+
+def new_port(port: int):
+  port += STARTING_PORT
+  return port + 1 if port >= RESERVED_PORT else port
+
 
 class Service:
   def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
@@ -11,56 +19,51 @@ class Service:
     self.frequency = frequency
     self.decimation = decimation
 
-service_list = {
-  "roadCameraState": Service(8002, True, 20., 1),
-  "sensorEvents": Service(8003, True, 100., 100),
-  "gpsNMEA": Service(8004, True, 9.),
-  "deviceState": Service(8005, True, 2., 1),
-  "can": Service(8006, True, 100.),
-  "controlsState": Service(8007, True, 100., 100),
-  "features": Service(8010, True, 0.),
-  "pandaState": Service(8011, True, 2., 1),
-  "radarState": Service(8012, True, 20., 5),
-  "roadEncodeIdx": Service(8015, True, 20., 1),
-  "liveTracks": Service(8016, True, 20.),
-  "sendcan": Service(8017, True, 100.),
-  "logMessage": Service(8018, True, 0.),
-  "liveCalibration": Service(8019, True, 4., 4),
-  "androidLog": Service(8020, True, 0., 1),
-  "carState": Service(8021, True, 100., 10),
-  "carControl": Service(8023, True, 100., 10),
-  "longitudinalPlan": Service(8024, True, 20., 2),
-  "liveLocation": Service(8025, True, 0., 1),
-  "gpsLocation": Service(8026, True, 1., 1),
-  "procLog": Service(8031, True, 0.5),
-  "gpsLocationExternal": Service(8032, True, 10., 1),
-  "ubloxGnss": Service(8033, True, 10.),
-  "clocks": Service(8034, True, 1., 1),
-  "liveMpc": Service(8035, False, 20.),
-  "liveLongitudinalMpc": Service(8036, False, 20.),
-  "ubloxRaw": Service(8042, True, 20.),
-  "liveLocationKalman": Service(8054, True, 20., 2),
-  "uiLayoutState": Service(8060, True, 0.),
-  "liveParameters": Service(8064, True, 20., 2),
-  "cameraOdometry": Service(8066, True, 20., 5),
-  "lateralPlan": Service(8067, True, 20., 2),
-  "thumbnail": Service(8069, True, 0.2, 1),
-  "carEvents": Service(8070, True, 1., 1),
-  "carParams": Service(8071, True, 0.02, 1),
-  "driverCameraState": Service(8072, True, 10. if EON else 20., 1),
-  "driverEncodeIdx": Service(8061, True, 10. if EON else 20., 1),
-  "driverState": Service(8063, True, 10. if EON else 20., 1),
-  "driverMonitoringState": Service(8073, True, 10. if EON else 20., 1),
-  "offroadLayout": Service(8074, False, 0.),
-  "wideRoadEncodeIdx": Service(8075, True, 20., 1),
-  "wideRoadCameraState": Service(8076, True, 20., 1),
-  "modelV2": Service(8077, True, 20., 20),
-  "managerState": Service(8078, True, 2., 1),
+DCAM_FREQ = 10. if not TICI else 20.
 
-  "testModel": Service(8040, False, 0.),
-  "testLiveLocation": Service(8045, False, 0.),
-  "testJoystick": Service(8056, False, 0.),
+services = {
+  # service: (should_log, frequency, qlog decimation (optional))
+  "sensorEvents": (True, 100., 100),
+  "gpsNMEA": (True, 9.),
+  "deviceState": (True, 2., 1),
+  "can": (True, 100.),
+  "controlsState": (True, 100., 10),
+  "pandaState": (True, 2., 1),
+  "radarState": (True, 20., 5),
+  "roadEncodeIdx": (True, 20., 1),
+  "liveTracks": (True, 20.),
+  "sendcan": (True, 100.),
+  "logMessage": (True, 0.),
+  "liveCalibration": (True, 4., 4),
+  "androidLog": (True, 0., 1),
+  "carState": (True, 100., 10),
+  "carControl": (True, 100., 10),
+  "longitudinalPlan": (True, 20., 5),
+  "procLog": (True, 0.5),
+  "gpsLocationExternal": (True, 10., 1),
+  "ubloxGnss": (True, 10.),
+  "clocks": (True, 1., 1),
+  "ubloxRaw": (True, 20.),
+  "liveLocationKalman": (True, 20., 2),
+  "liveParameters": (True, 20., 2),
+  "cameraOdometry": (True, 20., 5),
+  "lateralPlan": (True, 20., 5),
+  "thumbnail": (True, 0.2, 1),
+  "carEvents": (True, 1., 1),
+  "carParams": (True, 0.02, 1),
+  "roadCameraState": (True, 20., 20),
+  "driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),
+  "driverEncodeIdx": (True, DCAM_FREQ, 1),
+  "driverState": (True, DCAM_FREQ, DCAM_FREQ / 2),
+  "driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2),
+  "wideRoadEncodeIdx": (True, 20., 1),
+  "wideRoadCameraState": (True, 20., 20),
+  "modelV2": (True, 20., 40),
+  "managerState": (True, 2., 1),
+  "uploaderState": (True, 0., 1),
 }
+service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
+                idx, (name, vals) in enumerate(services.items())}
 
 
 def build_header():
@@ -73,7 +76,7 @@ def build_header():
   for k, v in service_list.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
+    h += '  { "%s", %d, %s, %d, %d },\n' % \
          (k, v.port, should_log, v.frequency, decimation)
   h += "};\n"
   h += "#endif\n"

cereal/visionipc/visionbuf.cc

@@ -15,7 +15,7 @@ extern "C" void compute_aligned_width_and_height(int width,
 #endif
 
 void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
-#if defined(QCOM) && !defined(QCOM_REPLAY)
+#ifdef QCOM
   compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
 #else
   *aligned_w = width; *aligned_h = height;

cereal/visionipc/visionbuf.h

@@ -49,7 +49,6 @@ class VisionBuf {
 
   // ion
   int handle = 0;
-  bool owner = false;
 
   void allocate(size_t len);
   void import();

cereal/visionipc/visionbuf_ion.cc

@@ -62,7 +62,6 @@ void VisionBuf::allocate(size_t len) {
 
   memset(addr, 0, ion_alloc.len);
 
-  this->owner = true;
   this->len = len;
   this->mmap_len = ion_alloc.len;
   this->addr = addr;
@@ -82,7 +81,6 @@ void VisionBuf::import(){
   err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
   assert(err == 0);
 
-  this->owner = false;
   this->handle = fd_data.handle;
   this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
   assert(this->addr != MAP_FAILED);
@@ -139,10 +137,6 @@ void VisionBuf::free() {
   munmap(this->addr, this->mmap_len);
   close(this->fd);
 
-  // Free the ION buffer if we also shared it
-  if (this->owner){
-    struct ion_handle_data handle_data = {.handle = this->handle};
-    int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-    assert(ret == 0);
-  }
+  struct ion_handle_data handle_data = {.handle = this->handle};
+  ioctl(ion_fd, ION_IOC_FREE, &handle_data);
 }

cereal/visionipc/visionipc.h

@@ -3,7 +3,7 @@
 #include <cstdint>
 #include <cstddef>
 
-constexpr int VISIONIPC_MAX_FDS = 64;
+constexpr int VISIONIPC_MAX_FDS = 128;
 
 struct VisionIpcBufExtra {
   uint32_t frame_id;

cereal/visionipc/visionipc_client.h

@@ -3,9 +3,9 @@
 #include <string>
 #include <unistd.h>
 
-#include "messaging.hpp"
-#include "visionipc.h"
-#include "visionbuf.h"
+#include "messaging/messaging.h"
+#include "visionipc/visionipc.h"
+#include "visionipc/visionbuf.h"
 
 class VisionIpcClient {
 private:

cereal/visionipc/visionipc_server.cc

@@ -7,9 +7,9 @@
 #include <sys/socket.h>
 #include <unistd.h>
 
-#include "messaging.hpp"
-#include "ipc.h"
-#include "visionipc_server.h"
+#include "messaging/messaging.h"
+#include "visionipc/ipc.h"
+#include "visionipc/visionipc_server.h"
 
 std::string get_endpoint_name(std::string name, VisionStreamType type){
   if (messaging_use_zmq()){
@@ -122,7 +122,6 @@ void VisionIpcServer::listener(){
       bufs[i].buf_cl = 0;
       bufs[i].copy_q = 0;
       bufs[i].handle = 0;
-      bufs[i].owner = false;
 
       bufs[i].server_id = server_id;
     }

cereal/visionipc/visionipc_server.h

@@ -5,9 +5,9 @@
 #include <atomic>
 #include <map>
 
-#include "messaging.hpp"
-#include "visionipc.h"
-#include "visionbuf.h"
+#include "messaging/messaging.h"
+#include "visionipc/visionipc.h"
+#include "visionipc/visionbuf.h"
 
 std::string get_endpoint_name(std::string name, VisionStreamType type);
 

common/SConscript

@@ -1,4 +1,4 @@
-Import('envCython')
+Import('envCython', 'common')
 
 envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.pyx')
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])

common/dict_helpers.py

@@ -0,0 +1,9 @@
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d

common/logging_extra.py

@@ -3,6 +3,7 @@ import os
 import sys
 import copy
 import json
+import uuid
 import socket
 import logging
 import traceback
@@ -62,8 +63,48 @@ class SwagFormatter(logging.Formatter):
     return record_dict
 
   def format(self, record):
+    if self.swaglogger is None:
+      raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
 
+class SwagLogFileFormatter(SwagFormatter):
+  def fix_kv(self, k, v):
+    # append type to names to preserve legacy naming in logs
+    # avoids overlapping key namespaces with different types
+    # e.g. log.info() creates 'msg' -> 'msg$s'
+    #      log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
+    #      because overlapping namespace 'msg' caused problems
+    if isinstance(v, (str, bytes)):
+      k += "$s"
+    elif isinstance(v, float):
+      k += "$f"
+    elif isinstance(v, bool):
+      k += "$b"
+    elif isinstance(v, int):
+      k += "$i"
+    elif isinstance(v, dict):
+      nv = {}
+      for ik, iv in v.items():
+        ik, iv = self.fix_kv(ik, iv)
+        nv[ik] = iv
+      v = nv
+    elif isinstance(v, list):
+      k += "$a"
+    return k, v
+
+  def format(self, record):
+    if isinstance(record, str):
+      v = json.loads(record)
+    else:
+      v = self.format_dict(record)
+
+    mk, mv = self.fix_kv('msg', v['msg'])
+    del v['msg']
+    v[mk] = mv
+    v['id'] = uuid.uuid4().hex
+
+    return json_robust_dumps(v)
+
 class SwagErrorFilter(logging.Filter):
   def filter(self, record):
     return record.levelno < logging.ERROR
@@ -117,6 +158,8 @@ class SwagLogger(logging.Logger):
     evt.update(kwargs)
     if 'error' in kwargs:
       self.error(evt)
+    elif 'debug' in kwargs:
+      self.debug(evt)
     else:
       self.info(evt)
 

common/params.py

@@ -1,5 +1,6 @@
-from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
+assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking
 

common/params_pxd.pxd

@@ -8,9 +8,21 @@ cdef extern from "selfdrive/common/util.cc":
   pass
 
 cdef extern from "selfdrive/common/params.h":
+  cpdef enum ParamKeyType:
+    PERSISTENT
+    CLEAR_ON_MANAGER_START
+    CLEAR_ON_PANDA_DISCONNECT
+    CLEAR_ON_IGNITION_ON
+    CLEAR_ON_IGNITION_OFF
+    ALL
+
   cdef cppclass Params:
-    Params(bool)
-    Params(string)
+    Params(bool) nogil
+    Params(string) nogil
     string get(string, bool) nogil
-    int delete_db_value(string)
-    int write_db_value(string, string)
+    bool getBool(string) nogil
+    int remove(string) nogil
+    int put(string, string) nogil
+    int putBool(string, bool) nogil
+    bool checkKey(string) nogil
+    void clearAll(ParamKeyType)

common/params_pyx.pyx

@@ -2,82 +2,20 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from common.params_pxd cimport Params as c_Params
+from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
 
 import os
 import threading
 from common.basedir import BASEDIR
 
-cdef enum TxType:
-  PERSISTENT = 1
-  CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_PANDA_DISCONNECT = 3
 
-keys = {
-  b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
-  b"AthenadPid": [TxType.PERSISTENT],
-  b"CalibrationParams": [TxType.PERSISTENT],
-  b"CarBatteryCapacity": [TxType.PERSISTENT],
-  b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"CommunityFeaturesToggle": [TxType.PERSISTENT],
-  b"CompletedTrainingVersion": [TxType.PERSISTENT],
-  b"DisablePowerDown": [TxType.PERSISTENT],
-  b"DisableUpdates": [TxType.PERSISTENT],
-  b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
-  b"DongleId": [TxType.PERSISTENT],
-  b"GitBranch": [TxType.PERSISTENT],
-  b"GitCommit": [TxType.PERSISTENT],
-  b"GitRemote": [TxType.PERSISTENT],
-  b"GithubSshKeys": [TxType.PERSISTENT],
-  b"HardwareSerial": [TxType.PERSISTENT],
-  b"HasAcceptedTerms": [TxType.PERSISTENT],
-  b"HasCompletedSetup": [TxType.PERSISTENT],
-  b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
-  b"IMEI": [TxType.PERSISTENT],
-  b"IsLdwEnabled": [TxType.PERSISTENT],
-  b"IsMetric": [TxType.PERSISTENT],
-  b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsRHD": [TxType.PERSISTENT],
-  b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"IsUploadRawEnabled": [TxType.PERSISTENT],
-  b"LastAthenaPingTime": [TxType.PERSISTENT],
-  b"LastGPSPosition": [TxType.PERSISTENT],
-  b"LastUpdateException": [TxType.PERSISTENT],
-  b"LastUpdateTime": [TxType.PERSISTENT],
-  b"LiveParameters": [TxType.PERSISTENT],
-  b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  b"LaneChangeEnabled": [TxType.PERSISTENT],
-  b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Passive": [TxType.PERSISTENT],
-  b"RecordFront": [TxType.PERSISTENT],
-  b"ReleaseNotes": [TxType.PERSISTENT],
-  b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"SubscriberInfo": [TxType.PERSISTENT],
-  b"SshEnabled": [TxType.PERSISTENT],
-  b"TermsVersion": [TxType.PERSISTENT],
-  b"Timezone": [TxType.PERSISTENT],
-  b"TrainingVersion": [TxType.PERSISTENT],
-  b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
-  b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
-  b"Version": [TxType.PERSISTENT],
-  b"VisionRadarToggle": [TxType.PERSISTENT],
-  b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
-  b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
-  b"ForcePowerDown": [TxType.CLEAR_ON_MANAGER_START],
-}
+cdef class ParamKeyType:
+  PERSISTENT = c_ParamKeyType.PERSISTENT
+  CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
+  CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
+  CLEAR_ON_IGNITION_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
+  CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
+  ALL = c_ParamKeyType.ALL
 
 def ensure_bytes(v):
   if isinstance(v, str):
@@ -93,37 +31,38 @@ cdef class Params:
   cdef c_Params* p
 
   def __cinit__(self, d=None, bool persistent_params=False):
+    cdef string path
     if d is None:
-      self.p = new c_Params(persistent_params)
+      with nogil:
+        self.p = new c_Params(persistent_params)
     else:
-      self.p = new c_Params(<string>d.encode())
+      path = <string>d.encode()
+      with nogil:
+        self.p = new c_Params(path)
 
   def __dealloc__(self):
     del self.p
 
   def clear_all(self, tx_type=None):
-    for key in keys:
-      if tx_type is None or tx_type in keys[key]:
-        self.delete(key)
+    if tx_type is None:
+      tx_type = ParamKeyType.ALL
 
-  def manager_start(self):
-    self.clear_all(TxType.CLEAR_ON_MANAGER_START)
+    self.p.clearAll(tx_type)
 
-  def panda_disconnect(self):
-    self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
-
-  def get(self, key, block=False, encoding=None):
+  def check_key(self, key):
     key = ensure_bytes(key)
 
-    if key not in keys:
+    if not self.p.checkKey(key):
       raise UnknownKeyName(key)
 
-    cdef string k = key
-    cdef bool b = block
+    return key
+
+  def get(self, key, bool block=False, encoding=None):
+    cdef string k = self.check_key(key)
 
     cdef string val
     with nogil:
-      val = self.p.get(k, b)
+      val = self.p.get(k, block)
 
     if val == b"":
       if block:
@@ -138,6 +77,13 @@ cdef class Params:
     else:
       return val
 
+  def get_bool(self, key):
+    cdef string k = self.check_key(key)
+    cdef bool r
+    with nogil:
+      r = self.p.getBool(k)
+    return r
+
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
@@ -145,23 +91,27 @@ cdef class Params:
     Use the put_nonblocking helper function in time sensitive code, but
     in general try to avoid writing params as much as possible.
     """
-    key = ensure_bytes(key)
-    dat = ensure_bytes(dat)
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = ensure_bytes(dat)
+    with nogil:
+      self.p.put(k, dat_bytes)
 
-    if key not in keys:
-      raise UnknownKeyName(key)
-
-    self.p.write_db_value(key, dat)
+  def put_bool(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBool(k, val)
 
   def delete(self, key):
-    key = ensure_bytes(key)
-    self.p.delete_db_value(key)
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.remove(k)
 
 
 def put_nonblocking(key, val, d=None):
   def f(key, val):
     params = Params(d)
-    params.put(key, val)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)
 
   t = threading.Thread(target=f, args=(key, val))
   t.start()

common/realtime.py

@@ -3,6 +3,7 @@ import gc
 import os
 import time
 import multiprocessing
+from typing import Optional
 
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
 from selfdrive.hardware import PC, TICI
@@ -31,49 +32,49 @@ class Priority:
   CTRL_HIGH = 53
 
 
-def set_realtime_priority(level):
+def set_realtime_priority(level: int) -> None:
   if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
 
 
-def set_core_affinity(core):
+def set_core_affinity(core: int) -> None:
   if not PC:
     os.sched_setaffinity(0, [core,])
 
 
-def config_realtime_process(core, priority):
+def config_realtime_process(core: int, priority: int) -> None:
   gc.disable()
   set_realtime_priority(priority)
   set_core_affinity(core)
 
 
-class Ratekeeper():
-  def __init__(self, rate, print_delay_threshold=0.):
+class Ratekeeper:
+  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = sec_since_boot() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
-    self._remaining = 0
+    self._remaining = 0.0
     self._process_name = multiprocessing.current_process().name
 
   @property
-  def frame(self):
+  def frame(self) -> int:
     return self._frame
 
   @property
-  def remaining(self):
+  def remaining(self) -> float:
     return self._remaining
 
   # Maintain loop rate by calling this at the end of each loop
-  def keep_time(self):
+  def keep_time(self) -> bool:
     lagged = self.monitor_time()
     if self._remaining > 0:
       time.sleep(self._remaining)
     return lagged
 
   # this only monitor the cumulative lag, but does not enforce a rate
-  def monitor_time(self):
+  def monitor_time(self) -> bool:
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval

common/spinner.py

@@ -25,7 +25,7 @@ class Spinner():
         pass
 
   def update_progress(self, cur: int, total: int):
-    self.update(str(int(100 * cur / total)))
+    self.update(str(round(100 * cur / total)))
 
   def close(self):
     if self.spinner_proc is not None:

common/transformations/camera.py

@@ -5,14 +5,12 @@ from selfdrive.hardware import TICI
 
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0
-eon_d_focal_length = 860.0
-leon_d_focal_length = 650.0
+eon_d_focal_length = 650.0
 tici_f_focal_length = 2648.0
 tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
 
 eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (1152, 864)
-leon_d_frame_size = (816, 612)
+eon_d_frame_size = (816, 612)
 tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
 
 # aka 'K' aka camera_frame_from_view_frame
@@ -22,11 +20,6 @@ eon_fcam_intrinsics = np.array([
   [0.0,  0.0,                                          1.0]])
 eon_intrinsics = eon_fcam_intrinsics # xx
 
-leon_dcam_intrinsics = np.array([
-  [leon_d_focal_length,  0.0,  float(leon_d_frame_size[0])/2],
-  [0.0,  leon_d_focal_length,  float(leon_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
-
 eon_dcam_intrinsics = np.array([
   [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
   [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],

common/transformations/coordinates.cc

@@ -6,8 +6,6 @@
 
 #include "coordinates.hpp"
 
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-#define RAD2DEG(x) ((x) * 180.0 / M_PI)
 
 
 double a = 6378137; // lgtm [cpp/short-global-name]

common/transformations/coordinates.hpp

@@ -1,5 +1,8 @@
 #pragma once
 
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
 struct ECEF {
   double x, y, z;
   Eigen::Vector3d to_vector(){
@@ -9,6 +12,9 @@ struct ECEF {
 
 struct NED {
   double n, e, d;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(n, e, d);
+  }
 };
 
 struct Geodetic {

common/transformations/orientation.cc

@@ -30,7 +30,8 @@ Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
   // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
   // return {euler(2), euler(1), euler(0)};
   double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
-  double theta = asin(2 * (quat.w() * quat.y() - quat.z() * quat.x()));
+  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
+  double theta = asin(asin_arg_clipped);
   double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
   return {gamma, theta, psi};
 }

installer/continue_openpilot.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh

installer/updater/update.json

@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
-  "ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
-  "recovery_len": 15926572,
-  "recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
+  "ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
+  "recovery_len": 15209772,
+  "recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
 }

installer/updater/updater.cc

@@ -1,37 +1,33 @@
+#include <sys/stat.h>
+#include <sys/statvfs.h>
+#include <unistd.h>
+
+#include <cassert>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
 #include <fstream>
 #include <iostream>
-#include <mutex>
 #include <memory>
+#include <mutex>
+#include <sstream>
+#include <string>
 #include <thread>
 
 #include <curl/curl.h>
 #include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
-
+#include <GLES3/gl3.h>
 #include "nanovg.h"
 #define NANOVG_GLES3_IMPLEMENTATION
+#include "json11.hpp"
 #include "nanovg_gl.h"
 #include "nanovg_gl_utils.h"
 
-#include "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/util.h"
+#include "selfdrive/common/framebuffer.h"
+#include "selfdrive/common/touch.h"
+#include "selfdrive/common/util.h"
 
 #define USER_AGENT "NEOSUpdater-0.2"
 
@@ -250,7 +246,12 @@ struct Updater {
     b_y = 720;
     b_h = 220;
 
-    state = CONFIRMATION;
+    if (download_stage(true)) {
+      state = RUNNING;
+      update_thread_handle = std::thread(&Updater::run_stages, this);
+    } else {
+      state = CONFIRMATION;
+    }
   }
 
   int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
@@ -351,11 +352,15 @@ struct Updater {
     state = RUNNING;
   }
 
-  std::string download(std::string url, std::string hash, std::string name) {
+  std::string download(std::string url, std::string hash, std::string name, bool dry_run) {
     std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
 
-    // start or resume downloading if hash doesn't match
     std::string fn_hash = sha256_file(out_fn);
+    if (dry_run) {
+      return (hash.compare(fn_hash) != 0) ? "" : out_fn;
+    }
+
+    // start or resume downloading if hash doesn't match
     if (hash.compare(fn_hash) != 0) {
       set_progress("Downloading " + name + "...");
       bool r = download_file(url, out_fn);
@@ -377,14 +382,14 @@ struct Updater {
     return out_fn;
   }
 
-  bool download_stage() {
+  bool download_stage(bool dry_run = false) {
     curl = curl_easy_init();
     assert(curl);
 
     // ** quick checks before download **
 
     if (!check_space()) {
-      set_error("2GB of free space required to update");
+      if (!dry_run) set_error("2GB of free space required to update");
       return false;
     }
 
@@ -432,7 +437,7 @@ struct Updater {
       printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
 
       if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = download(recovery_url, recovery_hash, "recovery");
+        recovery_fn = download(recovery_url, recovery_hash, "recovery", dry_run);
         if (recovery_fn.empty()) {
           // error'd
           return false;
@@ -441,7 +446,7 @@ struct Updater {
     }
 
     // ** handle ota download **
-    ota_fn = download(ota_url, ota_hash, "update");
+    ota_fn = download(ota_url, ota_hash, "update", dry_run);
     if (ota_fn.empty()) {
       //error'd
       return false;
@@ -552,7 +557,7 @@ struct Updater {
     // TODO: this should be generic between android versions
     // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
     system("service call power 16 i32 0 s16 recovery i32 1");
-    while(1) pause();
+    while (true) pause();
 
     // execl("/system/bin/reboot", "recovery");
     // set_error("failed to reboot into recovery");

launch.sh

@@ -1,4 +0,0 @@
-#!/usr/bin/bash
-
-export PASSIVE="0"
-exec ./launch_chffrplus.sh

launch_chffrplus.sh

@@ -9,6 +9,7 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 function two_init {
+
   # Wifi scan
   wpa_cli IFNAME=wlan0 SCAN
 
@@ -54,8 +55,7 @@ function two_init {
   echo 1 > /proc/irq/6/smp_affinity_list  # MDSS
 
   # USB traffic needs realtime handling on cpu 3
-  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
-  [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
+  [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
 
   # GPU and camera get cpu 2
   CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
@@ -84,92 +84,36 @@ function two_init {
     if [ ! -f "$BASEDIR/prebuilt" ]; then
       # Clean old build products, but preserve the scons cache
       cd $DIR
-      scons --clean
       git clean -xdf
       git submodule foreach --recursive git clean -xdf
     fi
 
     "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
   fi
-
-  # One-time fix for a subset of OP3T with gyro orientation offsets.
-  # Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
-  # Performed exactly once. The old registry is preserved just-in-case, and
-  # doubles as a flag denoting we've already done the reset.
-  if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
-    echo "Performing OP3T sensor registry reset"
-    mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
-      rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
-      echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
-      sleep 5  # Give Android sensor subsystem a moment to recover
-  fi
 }
 
 function tici_init {
+  # wait longer for weston to come up
+  if [ -f "$BASEDIR/prebuilt" ]; then
+    sleep 3
+  fi
+
   sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
   sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
+  nmcli connection modify --temporary lte gsm.auto-config yes
+  nmcli connection modify --temporary lte gsm.home-only yes
 
   # set success flag for current boot slot
   sudo abctl --set_success
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    # Get number of slot to switch to
-    CUR_SLOT=$(abctl --boot_slot)
-    if [[ "$CUR_SLOT" == "_a" ]]; then
-      OTHER_SLOT="_b"
-      OTHER_SLOT_NUMBER="1"
-    else
-      OTHER_SLOT="_a"
-      OTHER_SLOT_NUMBER="0"
-    fi
-    echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
-
-    # Get expected hashes from manifest
+    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
     MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
-    SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
-    SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
-    BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
-    BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
-    echo "Expected hashes:"
-    echo "System: $SYSTEM_HASH_EXPECTED"
-    echo "Boot: $BOOT_HASH_EXPECTED"
-
-    # Read hashes from alternate partitions, should already be flashed by updated
-    SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
-    BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
-    echo "Found hashes:"
-    echo "System: $SYSTEM_HASH"
-    echo "Boot: $BOOT_HASH"
-
-    if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
-      echo "Swapping active slot to $OTHER_SLOT_NUMBER"
-
-      # Clean hashes before swapping to prevent looping
-      dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
-      dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
-      sync
-
-      abctl --set_active "$OTHER_SLOT_NUMBER"
-
-      sleep 1
-      sudo reboot
-    else
-      echo "Hash mismatch, downloading agnos"
-      if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
-        echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
-
-        # Clean hashes before swapping to prevent looping
-        dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
-        dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
-        sync
-
-        abctl --set_active "$OTHER_SLOT_NUMBER"
-      fi
-
-      sleep 1
+    if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
+    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 
@@ -177,6 +121,9 @@ function launch {
   # Remove orphaned git lock if it exists on boot
   [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
 
+  # Pull time from panda
+  $DIR/selfdrive/boardd/set_time.py
+
   # Check to see if there's a valid overlay-based update available. Conditions
   # are as follows:
   #
@@ -219,7 +166,7 @@ function launch {
 
   # handle pythonpath
   ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
+  export PYTHONPATH="$PWD:$PWD/pyextra"
 
   # hardware specific init
   if [ -f /EON ]; then
@@ -232,8 +179,8 @@ function launch {
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd selfdrive
-  ./manager.py
+  cd selfdrive/manager
+  ./build.py && ./manager.py
 
   # if broken, keep on screen error
   while true; do sleep 1; done

launch_env.sh

@@ -7,11 +7,11 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$REQUIRED_NEOS_VERSION" ]; then
-  export REQUIRED_NEOS_VERSION="15-1"
+  export REQUIRED_NEOS_VERSION="17"
 fi
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="0.6"
+  export AGNOS_VERSION="1.2"
 fi
 
 if [ -z "$PASSIVE" ]; then

opendbc/acura_ilx_2016_can_generated.dbc

@@ -275,7 +275,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
 
 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_ 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
 

opendbc/acura_rdx_2018_can_generated.dbc

@@ -257,7 +257,7 @@ CM_ "acura_rdx_2018_can.dbc starts here";
 
 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_ 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|15] "" EON
 

opendbc/acura_rdx_2020_can_generated.dbc

@@ -69,7 +69,7 @@ BO_ 232 BRAKE_HOLD: 7 XXX
 
 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_ 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|15] "" EON
 

opendbc/can/common.cc

@@ -5,9 +5,11 @@ unsigned int honda_checksum(unsigned int address, uint64_t d, int l) {
   d >>= 4; // remove checksum
 
   int s = 0;
+  bool extended = address > 0x7FF; // extended can
   while (address) { s += (address & 0xF); address >>= 4; }
   while (d) { s += (d & 0xF); d >>= 4; }
   s = 8-s;
+  if (extended) s += 3;
   s &= 0xF;
 
   return s;
@@ -112,7 +114,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x86:  // LWI_01 Steering Angle
       crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
       break;
-    case 0x9F:  // EPS_01 Electric Power Steering
+    case 0x9F:  // LH_EPS_03 Electric Power Steering
       crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
       break;
     case 0xAD:  // Getriebe_11 Automatic Gearbox
@@ -125,7 +127,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
       crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
       break;
     case 0x117: // ACC_10 Automatic Cruise Control
-      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
+      crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
       break;
     case 0x120: // TSK_06 Drivetrain Coordinator
       crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
@@ -151,6 +153,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     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 0x324: // ACC_04 Automatic Cruise Control
+      crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[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;

opendbc/can/common.h

@@ -5,8 +5,12 @@
 #include <unordered_map>
 
 #include "common_dbc.h"
+#include <capnp/dynamic.h>
 #include <capnp/serialize.h>
+
+#ifndef DYNAMIC_CAPNP
 #include "cereal/gen/cpp/log.capnp.h"
+#endif
 
 #define MAX_BAD_COUNTER 5
 
@@ -36,6 +40,9 @@ public:
   uint8_t counter;
   uint8_t counter_fail;
 
+  bool ignore_checksum = false;
+  bool ignore_counter = false;
+
   bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
   bool update_counter_generic(int64_t v, int cnt_size);
 };
@@ -43,6 +50,7 @@ public:
 class CANParser {
 private:
   const int bus;
+  kj::Array<capnp::word> aligned_buf;
 
   const DBC *dbc = NULL;
   std::unordered_map<uint32_t, MessageState> message_states;
@@ -54,9 +62,13 @@ public:
   CANParser(int abus, const std::string& dbc_name,
             const std::vector<MessageParseOptions> &options,
             const std::vector<SignalParseOptions> &sigoptions);
-  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
-  void UpdateValid(uint64_t sec);
+  CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
+  #ifndef DYNAMIC_CAPNP
   void update_string(const std::string &data, bool sendcan);
+  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
+  #endif
+  void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
+  void UpdateValid(uint64_t sec);
   std::vector<SignalValue> query_latest();
 };
 
@@ -68,5 +80,6 @@ private:
 
 public:
   CANPacker(const std::string& dbc_name);
-  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter);
+  uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &values, int counter);
+  Msg* lookup_message(uint32_t address);
 };

opendbc/can/common_dbc.h

@@ -3,6 +3,7 @@
 #include <cstddef>
 #include <cstdint>
 #include <string>
+#include <vector>
 
 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
 
@@ -74,6 +75,7 @@ struct DBC {
   size_t num_vals;
 };
 
+std::vector<const DBC*>& get_dbcs();
 const DBC* dbc_lookup(const std::string& dbc_name);
 
 void dbc_register(const DBC* dbc);

opendbc/can/dbc.cc

@@ -2,15 +2,11 @@
 
 #include "common_dbc.h"
 
-namespace {
-
 std::vector<const DBC*>& get_dbcs() {
   static std::vector<const DBC*> vec;
   return vec;
 }
 
-}
-
 const DBC* dbc_lookup(const std::string& dbc_name) {
   for (const auto& dbci : get_dbcs()) {
     if (dbc_name == dbci->name) {

opendbc/can/packer.cc

@@ -20,7 +20,7 @@ uint64_t ReverseBytes(uint64_t x) {
           ((x & 0x00000000000000ffull) << 56);
 }
 
-uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
+static uint64_t set_value(uint64_t ret, const Signal& sig, int64_t ival) {
   int shift = sig.is_little_endian? sig.b1 : sig.bo;
   uint64_t mask = ((1ULL << sig.b2)-1) << shift;
   uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
@@ -59,7 +59,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
       WARN("undefined signal %s - %d\n", name.c_str(), address);
       continue;
     }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;
 
     int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
     if (ival < 0) {
@@ -75,7 +75,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
       WARN("COUNTER not defined\n");
       return ret;
     }
-    auto sig = sig_it->second;
+    const auto& sig = sig_it->second;
 
     if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
       WARN("COUNTER signal type not valid\n");
@@ -86,7 +86,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
 
   auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
   if (sig_it_checksum != signal_lookup.end()) {
-    auto sig = sig_it_checksum->second;
+    const auto& sig = sig_it_checksum->second;
     if (sig.type == SignalType::HONDA_CHECKSUM) {
       unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
       ret = set_value(ret, sig, chksm);
@@ -112,3 +112,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
 
   return ret;
 }
+
+Msg* CANPacker::lookup_message(uint32_t address) {
+  return &message_lookup[address];
+}

opendbc/can/parser.cc

@@ -13,7 +13,6 @@
 // #define DEBUG printf
 #define INFO printf
 
-
 bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
   uint64_t dat_le = read_u64_le(dat);
   uint64_t dat_be = read_u64_be(dat);
@@ -34,47 +33,52 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
 
     DEBUG("parse 0x%X %s -> %lld\n", address, sig.name, tmp);
 
-    if (sig.type == SignalType::HONDA_CHECKSUM) {
-      if (honda_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
+    if (!ignore_checksum) {
+      if (sig.type == SignalType::HONDA_CHECKSUM) {
+        if (honda_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
+        if (toyota_checksum(address, dat_be, size) != tmp) {
+          INFO("0x%X CHECKSUM FAIL\n", address);
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
+        if (volkswagen_crc(address, dat_le, size) != tmp) {
+          INFO("0x%X CRC FAIL\n", address);
+          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);
+          return false;
+        }
       }
-    } else if (sig.type == SignalType::HONDA_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
-      }
-    } else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
-      if (toyota_checksum(address, dat_be, size) != tmp) {
-        INFO("0x%X CHECKSUM FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
-      if (volkswagen_crc(address, dat_le, size) != tmp) {
-        INFO("0x%X CRC FAIL\n", address);
-        return false;
-      }
-    } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+    }
+    if (!ignore_counter) {
+      if (sig.type == SignalType::HONDA_COUNTER) {
         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);
-        return false;
-      }
-    } else if (sig.type == SignalType::PEDAL_COUNTER) {
-      if (!update_counter_generic(tmp, sig.b2)) {
-        return false;
+          return false;
+        }
+      } else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
+          if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
+      } else if (sig.type == SignalType::PEDAL_COUNTER) {
+        if (!update_counter_generic(tmp, sig.b2)) {
+          return false;
+        }
       }
     }
 
@@ -108,26 +112,24 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
 CANParser::CANParser(int abus, const std::string& dbc_name,
           const std::vector<MessageParseOptions> &options,
           const std::vector<SignalParseOptions> &sigoptions)
-  : bus(abus) {
+  : bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {
 
   dbc = dbc_lookup(dbc_name);
   assert(dbc);
   init_crc_lookup_tables();
 
   for (const auto& op : options) {
-    MessageState state = {
-      .address = op.address,
-      // .check_frequency = op.check_frequency,
-    };
+    MessageState &state = message_states[op.address];
+    state.address = op.address;
+    // state.check_frequency = op.check_frequency,
 
     // msg is not valid if a message isn't received for 10 consecutive steps
     if (op.check_frequency > 0) {
       state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
     }
 
-
     const Msg* msg = NULL;
-    for (int i=0; i<dbc->num_msgs; i++) {
+    for (int i = 0; i < dbc->num_msgs; i++) {
       if (dbc->msgs[i].address == op.address) {
         msg = &dbc->msgs[i];
         break;
@@ -141,7 +143,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
     state.size = msg->size;
 
     // track checksums and counters for this message
-    for (int i=0; i<msg->num_sigs; i++) {
+    for (int i = 0; i < msg->num_sigs; i++) {
       const Signal *sig = &msg->sigs[i];
       if (sig->type != SignalType::DEFAULT) {
         state.parse_sigs.push_back(*sig);
@@ -153,7 +155,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
     for (const auto& sigop : sigoptions) {
       if (sigop.address != op.address) continue;
 
-      for (int i=0; i<msg->num_sigs; i++) {
+      for (int i = 0; i < msg->num_sigs; i++) {
         const Signal *sig = &msg->sigs[i];
         if (strcmp(sig->name, sigop.name) == 0
             && sig->type == SignalType::DEFAULT) {
@@ -162,59 +164,48 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
           break;
         }
       }
+    }
+  }
+}
 
+CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter)
+  : bus(abus) {
+  // Add all messages and signals
+
+  dbc = dbc_lookup(dbc_name);
+  assert(dbc);
+  init_crc_lookup_tables();
+
+  for (int i = 0; i < dbc->num_msgs; i++) {
+    const Msg* msg = &dbc->msgs[i];
+    MessageState state = {
+      .address = msg->address,
+      .size = msg->size,
+      .ignore_checksum = ignore_checksum,
+      .ignore_counter = ignore_counter,
+    };
+
+    for (int j = 0; j < msg->num_sigs; j++) {
+      const Signal *sig = &msg->sigs[j];
+      state.parse_sigs.push_back(*sig);
+      state.vals.push_back(0);
     }
 
     message_states[state.address] = state;
   }
 }
 
-void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
-    int msg_count = cans.size();
-
-    DEBUG("got %d messages\n", msg_count);
-
-    // parse the messages
-    for (int i = 0; i < msg_count; i++) {
-      auto cmsg = cans[i];
-      if (cmsg.getSrc() != bus) {
-        // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
-        continue;
-      }
-      auto state_it = message_states.find(cmsg.getAddress());
-      if (state_it == message_states.end()) {
-        // DEBUG("skip %d: not specified\n", cmsg.getAddress());
-        continue;
-      }
-
-      if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
-      uint8_t dat[8] = {0};
-      memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
-
-      state_it->second.parse(sec, cmsg.getBusTime(), dat);
-    }
-}
-
-void CANParser::UpdateValid(uint64_t sec) {
-  can_valid = true;
-  for (const auto& kv : message_states) {
-    const auto& state = kv.second;
-    if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
-      if (state.seen > 0) {
-        DEBUG("0x%X TIMEOUT\n", state.address);
-      }
-      can_valid = false;
-    }
-  }
-}
-
+#ifndef DYNAMIC_CAPNP
 void CANParser::update_string(const std::string &data, bool sendcan) {
-  // format for board, make copy due to alignment issues, will be freed on out of scope
-  auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), data.data(), data.length());
+  // format for board, make copy due to alignment issues.
+  const size_t buf_size = (data.length() / sizeof(capnp::word)) + 1;
+  if (aligned_buf.size() < buf_size) {
+    aligned_buf = kj::heapArray<capnp::word>(buf_size);
+  }
+  memcpy(aligned_buf.begin(), data.data(), data.length());
 
   // extract the messages
-  capnp::FlatArrayMessageReader cmsg(amsg);
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
   cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
   last_sec = event.getLogMonoTime();
@@ -225,6 +216,69 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
   UpdateValid(last_sec);
 }
 
+void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
+  int msg_count = cans.size();
+
+  DEBUG("got %d messages\n", msg_count);
+
+  for (int i = 0; i < msg_count; i++) {
+    auto cmsg = cans[i];
+    // parse the messages
+    if (cmsg.getSrc() != bus) {
+      // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
+      continue;
+    }
+    auto state_it = message_states.find(cmsg.getAddress());
+    if (state_it == message_states.end()) {
+      // DEBUG("skip %d: not specified\n", cmsg.getAddress());
+      continue;
+    }
+
+    if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
+    uint8_t dat[8] = {0};
+    memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
+
+    state_it->second.parse(sec, cmsg.getBusTime(), dat);
+  }
+}
+#endif
+
+void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
+  // assume message struct is `cereal::CanData` and parse
+  assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));
+
+  if (cmsg.get("src").as<uint8_t>() != bus) {
+    DEBUG("skip %d: wrong bus\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto state_it = message_states.find(cmsg.get("address").as<uint32_t>());
+  if (state_it == message_states.end()) {
+    DEBUG("skip %d: not specified\n", cmsg.get("address").as<uint32_t>());
+    return;
+  }
+
+  auto dat = cmsg.get("dat").as<capnp::Data>();
+  if (dat.size() > 8) return; //shouldn't ever happen
+  uint8_t data[8] = {0};
+  memcpy(data, dat.begin(), dat.size());
+  state_it->second.parse(sec, cmsg.get("busTime").as<uint16_t>(), data);
+}
+
+void CANParser::UpdateValid(uint64_t sec) {
+  can_valid = true;
+  for (const auto& kv : message_states) {
+    const auto& state = kv.second;
+    if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) {
+      if (state.seen > 0) {
+        DEBUG("0x%X TIMEOUT\n", state.address);
+      } else {
+        DEBUG("0x%X MISSING\n", state.address);
+      }
+      can_valid = false;
+    }
+  }
+}
 
 std::vector<SignalValue> CANParser::query_latest() {
   std::vector<SignalValue> ret;

opendbc/can/parser_pyx.pyx

@@ -33,14 +33,14 @@ cdef class CANParser:
     bool can_valid
     int can_invalid_cnt
 
-  def __init__(self, dbc_name, signals, checks=None, bus=0):
+  def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
     if checks is None:
       checks = []
     self.can_valid = True
     self.dbc_name = dbc_name
     self.dbc = dbc_lookup(dbc_name)
     if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
+      raise RuntimeError(f"Can't find DBC: {dbc_name}")
     self.vl = {}
     self.ts = {}
 
@@ -74,6 +74,14 @@ cdef class CANParser:
         c = (self.msg_name_to_address[name], c[1])
         checks[i] = c
 
+    if enforce_checks:
+      checked_addrs = {c[0] for c in checks}
+      signal_addrs = {s[1] for s in signals}
+      unchecked = signal_addrs - checked_addrs
+      if len(unchecked):
+        err_msg = ', '.join(f"{self.address_to_msg_name[addr].decode()} ({hex(addr)})" for addr in unchecked)
+        raise RuntimeError(f"Unchecked addrs: {err_msg}")
+
     cdef vector[SignalParseOptions] signal_options_v
     cdef SignalParseOptions spo
     for sig_name, sig_address, sig_default in signals:
@@ -108,7 +116,6 @@ cdef class CANParser:
         self.can_invalid_cnt = 0
     self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
 
-
     for cv in can_values:
       # Cast char * directly to unicode
       name = <unicode>self.address_to_msg_name[cv.address].c_str()
@@ -149,8 +156,8 @@ cdef class CANDefine():
     self.dbc_name = dbc_name
     self.dbc = dbc_lookup(dbc_name)
     if not self.dbc:
-      raise RuntimeError("Can't lookup" + dbc_name)
-      
+      raise RuntimeError(f"Can't find DBC: '{dbc_name}'")
+
     num_vals = self.dbc[0].num_vals
 
     address_to_msg_name = {}

opendbc/can/process_dbc.py

@@ -106,8 +106,12 @@ def process(in_fn, out_fn):
 
   parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
 
-  with open(out_fn, "w") as out_f:
-    out_f.write(parser_code)
+  with open(out_fn, "a+") as out_f:
+    out_f.seek(0)
+    if out_f.read() != parser_code:
+      out_f.seek(0)
+      out_f.truncate()
+      out_f.write(parser_code)
 
 def main():
   if len(sys.argv) != 3:

opendbc/gm_global_a_powertrain.dbc

@@ -133,8 +133,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
- SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
- SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
+ SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s"  NEO
 
 BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
  SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO

opendbc/honda_accord_2018_can_generated.dbc

@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 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_ SET_ME_X01 : 20|1@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_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 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_ SET_ME_X01 : 20|1@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_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
@@ -380,7 +422,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
 CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
-CM_ "honda_accord_lx15t_2018_can.dbc starts here";
+CM_ "honda_accord_2018_can.dbc starts here";
 
 
 BO_ 304 GAS_PEDAL_2: 8 PCM
@@ -389,8 +431,14 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
  SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 401 GEARBOX: 8 PCM
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 401 GEARBOX_15T: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
  SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
@@ -430,6 +478,7 @@ BO_ 1302 ODOMETER: 8 XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -1,438 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-
-
-CM_ "Imported file _bosch_2018.dbc starts here";
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
-
-BO_ 148 KINEMATICS: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 228 STEERING_CONTROL: 5 EON
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
- SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
- 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
- SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
- SG_ STEER_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|15] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 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_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
- SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ AEB_PREPARE : 43|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_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
- SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-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_ 495 ACC_CONTROL_ON: 8 XXX
- SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
- SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 545 XXX_16: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 576 LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 577 LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
- SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
- SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
- SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
- SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
- SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
- SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
- SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
- SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
- SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
- SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
- BO_ 662 SCM_BUTTONS: 4 SCM
-  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
-  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
-  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
- SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
- SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 STALK_STATUS_2: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
-CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
-CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
-CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
-CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
-CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
-CM_ SG_ 577 LINE_SOLID "1 = line is solid";
-VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
-
-CM_ "honda_accord_s2t_2018_can.dbc starts here";
-
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 
-BO_ 419 GEARBOX: 8 PCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
- SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 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_ SET_ME_X01 : 20|1@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_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 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_ SET_ME_X01 : 20|1@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_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";

opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc

@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 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_ SET_ME_X01 : 20|1@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_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 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_ SET_ME_X01 : 20|1@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_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -346,6 +346,7 @@ BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 884 STALK_STATUS: 8 XXX
+ SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON
  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
@@ -389,6 +390,7 @@ VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
 

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 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_ SET_ME_X01 : 20|1@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_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 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_ SET_ME_X01 : 20|1@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_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 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_ SET_ME_X01 : 20|1@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_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 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_ SET_ME_X01 : 20|1@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_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -257,7 +257,7 @@ CM_ "honda_crv_touring_2016_can.dbc starts here";
 
 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_ 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|15] "" EON
 

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -275,7 +275,7 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
 
 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_ 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
 

opendbc/honda_hrv_touring_2019_can_generated.dbc

@@ -271,7 +271,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
 
 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_ 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
 

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 
+BO_ 13274 LKAS_HUD_A: 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_ SET_ME_X01 : 20|1@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_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 13275 LKAS_HUD_B: 8 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_ SET_ME_X01 : 20|1@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_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -267,7 +267,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
 
 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_ 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
 

opendbc/honda_pilot_touring_2017_can_generated.dbc

@@ -275,7 +275,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
 
 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_ 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
 

opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc

@@ -270,7 +270,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
 
 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_ 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
 

opendbc/hyundai_kia_generic.dbc

@@ -1028,10 +1028,7 @@ BO_ 48 EMS18: 6 EMS
 
 BO_ 1322 CLU15: 8 CLU
  SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM
- SG_ CF_Clu_InhibitP : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_InhibitR : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_InhibitN : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
- SG_ CF_Clu_InhibitD : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
+ SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM
  SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] ""  HUD
  SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
  SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
@@ -1196,7 +1193,7 @@ 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|1] "" CLU,EMS,ESC
  SG_ SCCInfoDisplay : 1|3@1+ (1,0) [0|7] "" CLU,ESC
@@ -1523,7 +1520,8 @@ BO_ 881 E_EMS11: 8 XXX
  SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" 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_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
+ SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|254] "" XXX
+ SG_ CR_Vcu_AccPedDep_Pos : 56|8@1+ (1,0) [0|254] "" XXX
 
 BO_ 1355 EV_PC6: 8 CGW
  SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX
@@ -1639,8 +1637,14 @@ BO_ 1042 ICM_412h: 8 ICM
  SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX
  SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
 
+VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
+VAL_ 871 CF_Lvr_Gear 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
+VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
+VAL_ 1322 CF_Clu_Gear 1 "P" 2 "R" 4 "N" 8 "D";
 VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
 VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink";
 VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
 VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
 VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled";
+
+CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";

opendbc/lexus_ct200h_2018_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_is_2018_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_nx300_2018_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_nx300h_2018_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_rx_350_2016_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/lexus_rx_hybrid_2017_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/mazda_2017.dbc

@@ -168,17 +168,16 @@ BO_ 581 CAM_IDK3: 8 XXX
  SG_ S9 : 56|8@1+ (1,0) [0|255] "" 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_ 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
+ SG_ SPEED_SIGN_ON : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1157 CAM_SETTINGS: 8 XXX
- SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
  SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
  SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
  SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
@@ -186,8 +185,10 @@ BO_ 1157 CAM_SETTINGS: 8 XXX
  SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
  SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 12|1@0+ (1,0) [0|7] "" XXX
  SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT1 : 12|1@0+ (1,0) [0|7] "" XXX
+ SG_ BIT2 : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT3 : 18|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1160 CAM_Empty3: 8 XXX
  SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
@@ -759,6 +760,7 @@ CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potentia
 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_ 863 STOP_SIGN "value 9 when stop sign is active";
 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";
@@ -773,4 +775,4 @@ 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";
+VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;

opendbc/subaru_forester_2017_generated.dbc

@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 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_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
  SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
  SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
  SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" 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|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
 
 BO_ 321 Engine: 8 XXX
  SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 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|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
  SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
  SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 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|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX
 
 BO_ 866 Fuel: 8 XXX
 
+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
 
@@ -220,7 +227,7 @@ 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 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 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";
@@ -253,6 +260,6 @@ BO_ 355 ES_DashStatus: 8 XXX
 BO_ 881 Steering_Torque: 8 XXX
  SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
  SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
  SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
  SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

opendbc/subaru_global_2017_generated.dbc

@@ -48,11 +48,13 @@ BO_ 2 Steering: 8 XXX
 BO_ 64 Throttle: 8 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|15] "" XXX
  SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" 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_ Signal1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX
  SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 316 Brake_Status: 8 XXX

opendbc/subaru_outback_2015_generated.dbc

@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 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_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
  SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
  SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
  SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" 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|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
 
 BO_ 321 Engine: 8 XXX
  SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 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|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
  SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
  SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 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|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX
 
 BO_ 866 Fuel: 8 XXX
 
+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
 
@@ -220,7 +227,7 @@ 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 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 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";
@@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
  SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
  SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
  SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
  SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" 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|1] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
 
 BO_ 881 Steering_Torque: 8 XXX
  SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
  SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
  SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
  SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
 
 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";

opendbc/subaru_outback_2019_generated.dbc

@@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 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_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
  SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
  SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
  SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" 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|1] "" XXX
+ SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
 
 BO_ 321 Engine: 8 XXX
  SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 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|1] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
  SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
  SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
  SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Close_Distance : 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|1] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
  SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
  SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
  SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
  SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 
@@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX
 
 BO_ 866 Fuel: 8 XXX
 
+BO_ 977 Dash_State2: 8 XXX
+  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 1745 Dash_State: 8 XXX
  SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
 
@@ -220,7 +227,7 @@ 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 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 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";
@@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
  SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
  SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
  SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
  SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
  SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" 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|1] "" XXX
- SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
 
 BO_ 881 Steering_Torque: 8 XXX
  SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
  SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
- SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
  SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
  SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
 
 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
-CM_ SG_ 358 ES_Error "No engagement until restart";
-CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 358 Cruise_Fault "No engagement until restart";
+CM_ SG_ 358 Car_Follow "lead car detected";

opendbc/tesla_can.dbc

@@ -0,0 +1,734 @@
+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_:
+    NEO
+    MCU
+    GTW
+    EPAS
+    DI
+    ESP
+    SBW
+    STW
+	APP
+	DAS
+	XXX
+
+VAL_TABLE_ StW_AnglHP_Spd 16383 "SNA" ;
+VAL_TABLE_ DI_aebFaultReason 15 "DI_AEB_FAULT_DAS_REQ_DI_UNAVAIL" 14 "DI_AEB_FAULT_ACCEL_REQ_INVALID" 13 "DI_AEB_FAULT_MIN_TIME_BTWN_EVENTS" 12 "DI_AEB_FAULT_ESP_MIA" 11 "DI_AEB_FAULT_ESP_FAULT" 10 "DI_AEB_FAULT_EPB_NOT_PARKED" 9 "DI_AEB_FAULT_ACCEL_OUT_OF_BOUNDS" 8 "DI_AEB_FAULT_PM_REQUEST" 7 "DI_AEB_FAULT_VEL_EST_ABNORMAL" 6 "DI_AEB_FAULT_DAS_SNA" 5 "DI_AEB_FAULT_DAS_CONTROL_MIA" 4 "DI_AEB_FAULT_SPEED_DELTA" 3 "DI_AEB_FAULT_EBR_FAULT" 2 "DI_AEB_FAULT_PM_MIA" 1 "DI_AEB_FAULT_EPB_MIA" 0 "DI_AEB_FAULT_NONE" ;
+VAL_TABLE_ DI_aebLockState 3 "AEB_LOCK_STATE_SNA" 2 "AEB_LOCK_STATE_UNUSED" 1 "AEB_LOCK_STATE_UNLOCKED" 0 "AEB_LOCK_STATE_LOCKED" ;
+VAL_TABLE_ DI_aebSmState 7 "DI_AEB_STATE_FAULT" 6 "DI_AEB_STATE_EXIT" 5 "DI_AEB_STATE_STANDSTILL" 4 "DI_AEB_STATE_STOPPING" 3 "DI_AEB_STATE_ENABLE" 2 "DI_AEB_STATE_ENABLE_INIT" 1 "DI_AEB_STATE_STANDBY" 0 "DI_AEB_STATE_UNAVAILABLE" ;
+VAL_TABLE_ DI_aebState 7 "AEB_CAN_STATE_SNA" 4 "AEB_CAN_STATE_FAULT" 3 "AEB_CAN_STATE_STANDSTILL" 2 "AEB_CAN_STATE_ENABLED" 1 "AEB_CAN_STATE_STANDBY" 0 "AEB_CAN_STATE_UNAVAILABLE" ;
+VAL_TABLE_ DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
+VAL_TABLE_ DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
+VAL_TABLE_ DI_gpoReason 8 "DI_GPO_NUMREASONS" 7 "DI_GPO_CAPACITOR_OVERTEMP" 6 "DI_GPO_NOT_ENOUGH_12V" 5 "DI_GPO_NO_BATTERY_POWER" 4 "DI_GPO_AMBIENT_OVERTEMP" 3 "DI_GPO_FLUID_DELTAT" 2 "DI_GPO_STATOR_OVERTEMP" 1 "DI_GPO_HEATSINK_OVERTEMP" 0 "DI_GPO_OUTLET_OVERTEMP" ;
+VAL_TABLE_ DI_immobilizerCondition 1 "DI_IMM_CONDITION_LEARNED" 0 "DI_IMM_CONDITION_VIRGIN_SNA" ;
+VAL_TABLE_ DI_immobilizerState 7 "DI_IMM_STATE_FAULT" 6 "DI_IMM_STATE_FAULTRETRY" 5 "DI_IMM_STATE_RESET" 4 "DI_IMM_STATE_LEARN" 3 "DI_IMM_STATE_DISARMED" 2 "DI_IMM_STATE_AUTHENTICATING" 1 "DI_IMM_STATE_REQUEST" 0 "DI_IMM_STATE_INIT_SNA" ;
+VAL_TABLE_ DI_limpReason 24 "DI_LIMP_NUMREASONS" 23 "DI_LIMP_CAPACITOR_OVERTEMP" 22 "DI_LIMP_GTW_MIA" 21 "DI_LIMP_TRQCMD_VALIDITY_UNKNOWN" 20 "DI_LIMP_DI_MIA" 19 "DI_LIMP_CONFIG_MISMATCH" 18 "DI_LIMP_HEATSINK_TEMP" 17 "DI_LIMP_PMREQUEST" 16 "DI_LIMP_PMHEARTBEAT" 15 "DI_LIMP_TRQ_CROSS_CHECK" 14 "DI_LIMP_EXTERNAL_COMMAND" 13 "DI_LIMP_WRONG_CS_CALIBRATION" 12 "DI_LIMP_STATOR_TEMP" 11 "DI_LIMP_DELTAT_TOO_NEGATIVE" 10 "DI_LIMP_DELTAT_TOO_POSITIVE" 9 "DI_LIMP_AMBIENT_TEMP" 8 "DI_LIMP_OUTLET_TEMP" 7 "DI_LIMP_LOW_FLOW" 6 "DI_LIMP_BMS_MIA" 5 "DI_LIMP_12V_SUPPLY_UNDERVOLTAGE" 4 "DI_LIMP_NO_FLUID" 3 "DI_LIMP_NO_FUNC_HEATSINK_SENSOR" 2 "DI_LIMP_NO_FUNC_STATORT_SENSOR" 1 "DI_LIMP_BUSV_SENSOR_IRRATIONAL" 0 "DI_LIMP_PHASE_IMBALANCE" ;
+VAL_TABLE_ DI_mode 2 "DI_MODE_DYNO" 1 "DI_MODE_DRIVE" 0 "DI_MODE_UNDEF" ;
+VAL_TABLE_ DI_motorType 14 "DI_MOTOR_F2AE" 13 "DI_MOTOR_F2AD" 12 "DI_MOTOR_F2AC" 11 "DI_MOTOR_F2AB" 10 "DI_MOTOR_F1AC" 9 "DI_MOTOR_SSR1A" 8 "DI_MOTOR_F1A" 7 "DI_MOTOR_M7M6" 6 "DI_MOTOR_M8A" 5 "DI_MOTOR_M7M5" 4 "DI_MOTOR_M7M4" 3 "DI_MOTOR_M7M3" 2 "DI_MOTOR_ROADSTER_SPORT" 1 "DI_MOTOR_ROADSTER_BASE" 0 "DI_MOTOR_SNA" ;
+VAL_TABLE_ DI_speedUnits 1 "DI_SPEED_KPH" 0 "DI_SPEED_MPH" ;
+VAL_TABLE_ DI_state 4 "DI_STATE_ENABLE" 3 "DI_STATE_FAULT" 2 "DI_STATE_CLEAR_FAULT" 1 "DI_STATE_STANDBY" 0 "DI_STATE_PREAUTH" ;
+VAL_TABLE_ DI_velocityEstimatorState 4 "VE_STATE_BACKUP_MOTOR" 3 "VE_STATE_BACKUP_WHEELS_B" 2 "VE_STATE_BACKUP_WHEELS_A" 1 "VE_STATE_WHEELS_NORMAL" 0 "VE_STATE_NOT_INITIALIZED" ;
+
+
+BO_ 1160 DAS_steeringControl: 4 NEO
+ SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|0] "" EPAS
+ SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|0] "" EPAS
+ SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|0] "" EPAS
+ SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" EPAS
+ SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|0] "" EPAS
+
+BO_ 257 GTW_epasControl: 3 NEO
+ SG_ GTW_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO
+ SG_ GTW_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO
+ SG_ GTW_epasControlType : 15|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ GTW_epasEmergencyOn : 7|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ GTW_epasLDWEnabled : 12|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ GTW_epasPowerMode : 6|4@0+ (1,0) [4|14] ""  NEO
+ SG_ GTW_epasTuneRequest : 2|3@0+ (1,0) [-1|8] ""  NEO
+
+BO_ 880 EPAS_sysStatus: 8 EPAS
+ SG_ EPAS_currentTuneMode : 7|4@0+ (1,0) [8|15] ""  NEO
+ SG_ EPAS_eacErrorCode : 23|4@0+ (1,0) [-1|16] ""  NEO
+ SG_ EPAS_eacStatus : 55|3@0+ (1,0) [5|7] ""  NEO
+ SG_ EPAS_handsOnLevel : 39|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ EPAS_internalSAS : 37|14@0+ (0.1,-819.200012) [0|0] "deg"  NEO
+ SG_ EPAS_steeringFault : 2|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [0|0] "N" NEO
+ SG_ EPAS_steeringReduced : 3|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ EPAS_sysStatusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
+ SG_ EPAS_sysStatusCounter : 51|4@0+ (1,0) [0|15] ""  NEO
+ SG_ EPAS_torsionBarTorque : 19|12@0+ (0.01,-20.5) [0|0] "Nm"  NEO
+
+BO_ 3 STW_ANGL_STAT: 8 STW
+ SG_ StW_Angl : 5|14@0+ (0.5,-2048) [0|0] "deg"  NEO
+ SG_ StW_AnglSpd : 21|14@0+ (0.5,-2048) [0|0] "/s"  NEO
+ SG_ StW_AnglSens_Stat : 33|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ StW_AnglSens_Id : 35|2@0+ (1,0) [3|3] ""  NEO
+ SG_ MC_STW_ANGL_STAT : 55|4@0+ (1,0) [0|15] ""  NEO
+ SG_ CRC_STW_ANGL_STAT : 63|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 14 STW_ANGLHP_STAT: 8 STW
+
+ SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg"  NEO
+ SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s"  NEO
+ SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ StW_AnglHP_Sens_Id : 35|2@0+ (1,0) [0|0] ""  NEO
+ SG_ MC_STW_ANGLHP_STAT : 55|4@0+ (1,0) [0|15] ""  NEO
+ SG_ CRC_STW_ANGLHP_STAT : 63|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 264 DI_torque1: 8 DI
+ SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm"  NEO
+ SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm"  NEO
+ SG_ DI_soptState : 29|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM"  NEO
+ SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%"  NEO
+ SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] ""  NEO
+
+BO_ 280 DI_torque2: 6 DI
+ SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO
+ SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO
+ SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO
+ SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO
+ SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO
+ SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO
+ SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO
+ SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO
+ SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO
+ SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO
+ SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO
+
+BO_ 309 ESP_135h: 5 ESP
+ SG_ ESP_135hChecksum : 23|8@0+ (1,0) [0|255] ""  NEO
+ SG_ ESP_135hCounter : 11|4@0+ (1,0) [0|15] ""  NEO
+ SG_ ESP_absBrakeEvent : 2|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_brakeDiscWipingActive : 4|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_brakeLamp : 3|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_espFaultLamp : 6|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_espLampFlash : 7|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_hillStartAssistActive : 1|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ ESP_messagePumpService : 24|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_messagePumpFailure : 25|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_messageEBDFailure : 26|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_absFaultLamp : 27|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_tcDisabledByFault : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_messageDynoModeActive : 29|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_hydraulicBoostEnabled : 30|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_espOffLamp : 31|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_stabilityControlSts : 14|3@0+ (1,0) [6|7] ""  NEO
+ SG_ ESP_tcLampFlash : 5|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] ""  NEO
+
+BO_ 341 ESP_B: 8 ESP
+ SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] ""  NEO,EPAS
+ SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] ""  NEO,EPAS
+ SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph"  NEO,EPAS
+ SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountReR : 31|8@0+ (1,0) [0|254] ""  NEO,EPAS
+
+BO_ 513 SDM1: 5 GTW
+ SG_ SDM_bcklPassStatus : 3|2@0+ (1,0) [0|3] "" NEO
+ SG_ SDM_bcklDrivStatus : 5|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 532 EPB_epasControl: 3 EPB
+ SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS
+ SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS
+ SG_ EPB_epasEACAllow : 2|3@0+ (1,0) [4|7] ""  NEO,EPAS
+
+BO_ 792 GTW_carState: 8 GTW
+ SG_ YEAR : 0|7@1+ (1,2000) [2000|2127] "Year" NEO
+ SG_ CERRD : 7|1@1+ (1,0) [0|1] "" NEO
+ SG_ MONTH : 8|4@1+ (1,0) [1|12] "Month" NEO
+ SG_ DOOR_STATE_FL : 12|2@1+ (1,0) [0|3] "" NEO
+ SG_ DOOR_STATE_FR : 14|2@1+ (1,0) [0|3] "" NEO
+ SG_ SECOND : 16|6@1+ (1,0) [0|59] "s" NEO
+ SG_ DOOR_STATE_RL : 22|2@1+ (1,0) [0|3] "" NEO
+ SG_ Hour : 24|5@1+ (1,0) [0|23] "h" NEO
+ SG_ DOOR_STATE_RR : 29|2@1+ (1,0) [0|3] "" NEO
+ SG_ DAY : 32|5@1+ (1,0) [0|31] "" NEO
+ SG_ MINUTE : 40|6@1+ (1,0) [0|59] "min" NEO
+ SG_ BOOT_STATE : 46|2@1+ (1,0) [0|3] "" NEO
+ SG_ GTW_updateInProgress : 48|2@1+ (1,0) [0|3] "" NEO
+ SG_ DOOR_STATE_FrontTrunk : 50|2@1+ (1,0) [0|3] "" NEO
+ SG_ MCU_factoryMode : 52|1@1+ (1,0) [0|1] "" NEO
+ SG_ MCU_transportModeOn : 53|1@0+ (1,0) [0|1] "" NEO
+ SG_ BC_headLightLStatus : 55|2@0+ (1,0) [0|3] "" NEO
+ SG_ BC_headLightRStatus : 57|2@0+ (1,0) [0|3] "" NEO
+ SG_ BC_indicatorLStatus : 59|2@0+ (1,0) [0|3] "" NEO
+ SG_ BC_indicatorRStatus : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 872 DI_state: 8 DI
+ SG_ DI_systemState : 0|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_proximity : 6|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_state : 9|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed"  NEO
+ SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] ""  NEO
+ SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed"  NEO
+ SG_ DI_aebState : 41|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] ""  NEO
+ SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] ""  NEO
+
+BO_ 109 SBW_RQ_SCCM: 4 STW
+ SG_ StW_Sw_Stat3 : 0|3@1+ (1,0) [0|0] "" NEO
+ SG_ MsgTxmtId : 6|2@1+ (1,0) [0|0] "" NEO
+ SG_ TSL_RND_Posn_StW : 8|4@1+ (1,0) [0|0] "" NEO
+ SG_ TSL_P_Psd_StW : 12|2@1+ (1,0) [0|0] "" NEO
+ SG_ MC_SBW_RQ_SCCM : 20|4@1+ (1,0) [0|15] "" NEO
+ SG_ CRC_SBW_RQ_SCCM : 24|8@1+ (1,0) [0|0] "" NEO
+
+BO_ 69 STW_ACTN_RQ: 8 STW
+ SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO
+ SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO
+ SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO
+ SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO
+ SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO
+ SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO
+ SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO
+ SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO
+ SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO
+ SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO
+ SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO
+ SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO
+ SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO
+
+BO_ 643 BODY_R1: 8 GTW
+ SG_ AirTemp_Insd : 47|8@0+ (0.25,0) [0|63.5] "C"  NEO
+ SG_ AirTemp_Outsd : 63|8@0+ (0.5,-40) [-40|86.5] "C"  NEO
+ SG_ Bckl_Sw_RL_Stat_SAM_R : 49|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Bckl_Sw_RM_Stat_SAM_R : 53|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Bckl_Sw_RR_Stat_SAM_R : 51|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DL_RLtch_Stat : 9|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_FL_Stat : 1|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_FR_Stat : 3|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_RL_Stat : 5|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_RR_Stat : 7|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ EngHd_Stat : 11|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ LoBm_On_Rq : 32|1@0+ (1,0) [0|1] ""  NEO
+ SG_ HiBm_On : 33|1@0+ (1,0) [0|1] ""  NEO
+ SG_ Hrn_On : 26|1@0+ (1,0) [0|1] ""  NEO
+ SG_ IrLmp_D_Lt_Flt : 34|1@0+ (1,0) [0|1] ""  NEO
+ SG_ IrLmp_P_Rt_Flt : 35|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Twlgt : 18|3@0+ (1,0) [0|7] "Steps"  NEO
+ SG_ LgtSens_SNA : 19|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Tunnel : 20|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Flt : 21|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Night : 22|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ADL_LoBm_On_Rq : 23|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LoBm_D_Lt_Flt : 36|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LoBm_P_Rt_Flt : 37|1@0+ (1,0) [0|1] ""  NEO
+ SG_ MPkBrk_Stat : 28|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ RevGr_Engg : 39|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ StW_Cond_Stat : 55|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Term54_Actv : 27|1@0+ (1,0) [0|1] ""  NEO
+ SG_ Trlr_Stat : 25|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ VTA_Alm_Actv : 13|1@0+ (1,0) [0|1] ""  NEO
+ SG_ WprOutsdPkPosn : 29|1@0+ (1,0) [0|1] ""  NEO
+
+BO_ 760 UI_gpsVehicleSpeed: 8 GTW
+ SG_ UI_gpsHDOP : 0|8@1+ (0.1,0) [0|25.5] "1" DAS
+ SG_ UI_gpsVehicleHeading : 8|16@1+ (0.0078125,0) [0|511.9921875] "deg" DAS
+ SG_ UI_gpsVehicleSpeed : 24|16@1+ (0.00390625,0) [0|250.996] "km/hr" Vector__XXX
+ SG_ UI_userSpeedOffset : 40|6@1+ (1,-30) [-30|33] "kph/mph" DAS
+ SG_ UI_mapSpeedLimitUnits : 46|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_userSpeedOffsetUnits : 47|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_mppSpeedLimit : 48|5@1+ (5,0) [0|155] "kph/mph" DAS
+ SG_ UI_gpsNmeaMIA : 53|1@1+ (1,0) [0|0] "" DAS
+
+BO_ 536 MCU_chassisControl: 8 GTW
+ SG_ MCU_dasDebugEnable : 0|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_parkBrakeRequest : 1|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_trailerModeCH : 3|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_fcwSensitivity : 4|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_fcwEnable : 6|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_latControlEnable : 8|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_accOvertakeEnable : 10|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_ldwEnable : 12|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_aebEnable : 14|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_bsdEnable : 16|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_ahlbEnable : 18|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_parkSetting : 20|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_pedalSafetyEnable : 22|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_frontDefrostReq_das : 24|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_autoParkRequest : 26|4@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_redLightStopSignEnable : 30|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_enableCreepTorqueCH : 32|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_narrowGarages : 33|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_rebootAutopilot : 34|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_enableAutowipers : 35|1@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_overPaintedUSS : 38|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_selfParkTune : 40|4@1+ (1,0) [0|15] "" NEO
+ SG_ MCU_towModeEnable : 44|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_zeroSpeedConfirmed : 46|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_aesEnable : 48|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_autoLaneChangeEnable : 50|2@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_chassisControlCounter : 52|4@1+ (1,0) [0|0] "" NEO
+ SG_ MCU_chassisControlChecksum : 56|8@1+ (1,0) [0|0] "" NEO
+
+BO_ 904 MCU_clusterBacklightRequest: 3 NEO
+ SG_ MCU_clusterBacklightOn : 7|1@1+ (1,0) [0|1] "" NEO
+ SG_ MCU_clusterBrightnessLevel : 8|8@1+ (0.5,0) [0|127.5] "%" NEO
+ SG_ MCU_clusterReadyForDrive : 6|1@1+ (1,0) [-1|2] ""  NEO
+ SG_ MCU_clusterReadyForPowerOff : 5|1@1+ (1,0) [0|1] "" NEO
+
+BO_ 984 MCU_locationStatus: 8 MCU
+ SG_ MCU_gpsAccuracy : 57|7@1+ (0.2,0) [0|0] "m" NEO
+ SG_ MCU_latitude : 0|28@1- (1E-06,0) [0|0] "deg" NEO
+ SG_ MCU_longitude : 28|29@1- (1E-06,0) [0|0] "deg" NEO
+
+BO_ 104 MCU_locationStatus2: 8 MCU
+ SG_ MCU_elevation : 0|32@1- (0.1,0) [0|0] "m" GTW
+ SG_ MCU_navigonExpectedSpeed : 32|7@1+ (1,0) [0|126] "mph" GTW
+
+BO_ 840 GTW_status: 8 GTW
+ SG_ GTW_accGoingDown : 6|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_accRailReq : 8|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_brakePressed : 1|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driveGoingDown : 7|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driveRailReq : 0|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driverIsLeaving : 5|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driverPresent : 2|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_hvacGoingDown : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_hvacRailReq : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_icPowerOff : 4|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_notEnough12VForDrive : 3|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_preconditionRequest : 10|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
+ SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] ""  NEO
+
+BO_ 920 GTW_carConfig: 8 GTW
+ SG_ GTW_performanceConfig : 2|3@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_fourWheelDrive : 4|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_unknown1 : 5|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_dasHw : 7|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_parkAssistInstalled : 9|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_forwardRadarHw : 11|2@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_airSuspensionInstalled : 14|3@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_unknown2 : 15|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_country : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_parkSensorGeometryType : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_rhd : 34|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_bodyControlsType : 35|1@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_radarPosition : 39|4@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_rearCornerRadarHw : 41|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_frontCornerRadarHw : 43|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_epasType : 45|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_chassisType : 47|2@0+ (1,0) [0|2] ""  NEO
+ SG_ GTW_wheelType : 52|5@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_rearSeatControllerMask : 55|3@0+ (1,0) [0|7] ""  NEO
+ SG_ GTW_euVehicle : 56|1@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_foldingMirrorsInstalled : 57|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_brakeHwType : 59|2@0+ (1,0) [0|2] ""  NEO
+ SG_ GTW_autopilot : 61|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_unknown3 : 63|2@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1006 UI_autopilotControl: 8 GTW
+ SG_ UI_autopilotControlIndex M : 0|3@1+ (1,0) [0|7] "" APP,APS
+ SG_ UI_hovEnabled m0 : 3|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donDisableAutoWiperDuration m0 : 4|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donDisableOnAutoWiperSpeed m0 : 7|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_blindspotMinSpeed m0 : 11|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_blindspotDistance m0 : 15|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_blindspotTTC m0 : 18|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donStopEndOfRampBuffer m0 : 21|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donDisableCutin m0 : 24|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donMinGoreWidthForAbortMap m0 : 25|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donAlcProgGoreAbortThres m0 : 29|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_donMinGoreWidthForAbortNotMap m0 : 33|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcDisableUltrasonicCheck m0 : 37|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcUltrasonicDistance m0 : 38|4@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcUltrasonicWaitTime m0 : 42|3@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcEgoLeadingReactionAccel m0 : 48|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcMergIntervalRearDHyst m0 : 50|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcMergingIntervalHeadwayHyst m0 : 52|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcAssertivenessRate m0 : 54|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_alcViewRangeSensitivity m0 : 56|2@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_camBlockLaneCheckDisable m1 : 3|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_camBlockLaneCheckThreshold m1 : 4|6@1+ (0.01587,0) [0|1] "%" APP,APS
+ SG_ UI_camBlockBlurDisable m1 : 10|1@1+ (1,0) [0|0] "" APP,APS
+ SG_ UI_camBlockBlurThreshold m1 : 11|6@1+ (0.01587,0) [0|1] "%" APP,APS
+
+BO_ 728 UI_csaOfframpCurvature: 8 GTW
+ SG_ UI_csaOfframpCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS
+ SG_ UI_csaOfframpCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS
+ SG_ UI_csaOfframpCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS
+ SG_ UI_csaOfframpCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ UI_csaOfframpCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_csaOfframpCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_csaOfframpCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 744 UI_csaRoadCurvature: 8 GTW
+ SG_ UI_csaRoadCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS
+ SG_ UI_csaRoadCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS
+ SG_ UI_csaRoadCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS
+ SG_ UI_csaRoadCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ UI_csaRoadCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_csaRoadCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_csaRoadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1080 UI_driverAssistAnonDebugParams: 8 GTW
+ SG_ UI_anonDebugParam1 : 0|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugFlag1 : 7|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_anonDebugParam2 : 8|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugFlag2 : 15|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_anonDebugParam3 : 16|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugFlag3 : 23|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_anonDebugParam4 : 24|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugFlag4 : 31|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_anonDebugParam5 : 32|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugParam6 : 40|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_anonDebugParam7 : 48|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_visionSpeedSlider : 56|7@1+ (1,0) [0|100] "" DAS
+
+BO_ 1000 UI_driverAssistControl: 8 GTW
+ SG_ UI_autopilotControlRequest : 0|1@1+ (1,0) [1|0] "" DAS
+ SG_ UI_ulcStalkConfirm : 1|1@1+ (1,0) [1|0] "" DAS
+ SG_ UI_summonHeartbeat : 2|2@1+ (1,0) [0|0] "" DAS
+ SG_ UI_curvSpeedAdaptDisable : 4|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_dasDeveloper : 5|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_enableVinAssociation : 6|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_lssLkaEnabled : 7|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_lssLdwEnabled : 8|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_autoSummonEnable : 10|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_exceptionListEnable : 11|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_roadCheckDisable : 12|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_driveOnMapsEnable : 13|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_handsOnRequirementDisable : 14|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_forksEnable : 15|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_fuseLanesDisable : 16|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_fuseHPPDisable : 17|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_fuseVehiclesDisable : 18|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_enableNextGenACC : 19|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_visionSpeedType : 20|2@1+ (1,0) [0|0] "" APP
+ SG_ UI_curvatureDatabaseOnly : 22|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_lssElkEnabled : 23|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_summonExitType : 24|2@1+ (1,0) [0|3] "" DAS
+ SG_ UI_summonEntryType : 26|2@1+ (1,0) [0|3] "" DAS
+ SG_ UI_selfParkRequest : 28|4@1+ (1,0) [0|15] "" DAS,PARK
+ SG_ UI_summonReverseDist : 32|6@1+ (1,0) [0|63] "" DAS
+ SG_ UI_undertakeAssistEnable : 38|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_adaptiveSetSpeedEnable : 39|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_drivingSide : 40|2@1+ (1,0) [0|3] "" DAS
+ SG_ UI_enableClipTelemetry : 42|1@1+ (1,0) [0|0] "" APP
+ SG_ UI_enableTripTelemetry : 43|1@1+ (1,0) [0|0] "" APP
+ SG_ UI_enableRoadSegmentTelemetry : 44|1@1+ (1,0) [0|0] "" APP
+ SG_ UI_followNavRouteEnable : 46|1@1+ (1,0) [0|0] "" APP
+ SG_ UI_ulcSpeedConfig : 48|2@1+ (1,0) [0|3] "" APP
+ SG_ UI_ulcBlindSpotConfig : 50|2@1+ (1,0) [0|3] "" APP
+ SG_ UI_autopilotAlwaysOn : 52|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_accFromZero : 53|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_alcOffHighwayEnable : 54|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_validationLoop : 55|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_ulcOffHighway : 56|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_enableNavRouteCSA : 57|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_enableCutinExperiments : 58|1@1+ (1,0) [0|1] "" APP
+ SG_ UI_source3D : 60|3@1+ (1,0) [0|7] "" APP
+ SG_ UI_enableVisionOnlyStops : 63|1@1+ (1,0) [0|1] "" APP
+
+BO_ 968 UI_driverAssistMapData: 8 GTW
+ SG_ UI_mapSpeedLimitDependency : 0|3@1+ (1,0) [0|0] "" DAS
+ SG_ UI_roadClass : 3|3@1+ (1,0) [0|0] "" DAS
+ SG_ UI_inSuperchargerGeofence : 6|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapSpeedUnits : 7|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapSpeedLimit : 8|5@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapSpeedLimitType : 13|3@1+ (1,0) [0|0] "" DAS
+ SG_ UI_countryCode : 16|10@1+ (1,0) [0|0] "" DAS
+ SG_ UI_streetCount : 26|2@1+ (1,0) [0|0] "" DAS
+ SG_ UI_gpsRoadMatch : 28|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_navRouteActive : 29|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_parallelAutoparkEnabled : 30|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_perpendicularAutoparkEnabled : 31|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_nextBranchDist : 32|5@1+ (10,0) [0|300] "m" DAS
+ SG_ UI_controlledAccess : 37|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_nextBranchLeftOffRamp : 38|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_nextBranchRightOffRamp : 39|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectLeftLane : 40|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectRightLane : 41|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectHPP : 42|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectNav : 43|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectLeftFreeSpace : 44|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectRightFreeSpace : 45|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectAutosteer : 46|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_rejectHandsOn : 47|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_acceptBottsDots : 48|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_autosteerRestricted : 49|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_pmmEnabled : 50|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_scaEnabled : 51|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS
+ SG_ UI_mapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS
+
+BO_ 568 UI_driverAssistRoadSign: 8 GTW
+ SG_ UI_roadSign M : 0|8@1+ (1,0) [0|0] "" DAS
+ SG_ UI_splineLocConfidence : 40|7@1+ (1,0) [0|100] "" DAS
+ SG_ UI_splineID : 48|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ UI_roadSignCounter : 52|4@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_roadSignChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_dummyData m0 : 8|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_stopSignStopLineDist m1 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX
+ SG_ UI_stopSignStopLineConf m1 : 18|7@1+ (1,0) [0|100] "" Vector__XXX
+ SG_ UI_trafficLightStopLineDist m2 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX
+ SG_ UI_trafficLightStopLineConf m2 : 18|7@1+ (1,0) [0|100] "" Vector__XXX
+ SG_ UI_baseMapSpeedLimitMPS m3 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_bottomQrtlFleetSpeedMPS m3 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_topQrtlFleetSpeedMPS m3 : 24|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_meanFleetSplineSpeedMPS m4 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_medianFleetSpeedMPS m4 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS
+ SG_ UI_meanFleetSplineAccelMPS2 m4 : 24|8@1+ (0.05,-6.35) [-6.35|6.4] "m/s^2" DAS
+ SG_ UI_rampType m4 : 32|3@1+ (1,0) [0|7] "" DAS
+ SG_ UI_currSplineIdFull m5 : 8|32@1+ (1,0) [0|1] "" APP
+
+
+BO_ 696 UI_radarMapData: 8 GTW
+ SG_ UI_radarTargetDx : 0|8@1+ (1,-95) [-95|160] "m" DAS
+ SG_ UI_radarTargetDxEnd : 8|8@1+ (1,0) [0|255] "m" DAS
+ SG_ UI_radarTargetTrustMap : 16|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_radarEnableBraking : 17|1@1+ (1,0) [0|1] "" DAS
+ SG_ UI_radarMapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS
+ SG_ UI_radarMapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS
+
+BO_ 712 UI_roadCurvature: 8 GTW
+ SG_ UI_roadCurvC0 : 0|11@1- (0.02,0) [-20.48|20.46] "m" DAS
+ SG_ UI_roadCurvC1 : 11|10@1- (0.00075,0) [-0.384|0.38325] "1" DAS
+ SG_ UI_roadCurvC2 : 21|14@1- (7.5E-06,0) [-0.03072|0.03071625] "1/m" DAS
+ SG_ UI_roadCurvC3 : 35|13@1- (3E-08,0) [-0.00012288|0.00012285] "1/m2" DAS
+ SG_ UI_roadCurvRange : 48|6@1+ (4,0) [0|252] "m" DAS
+ SG_ UI_roadCurvHealth : 54|2@1+ (1,0) [0|0] "" DAS
+ SG_ UI_roadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 582 UI_solarData: 5 GTW
+ SG_ UI_solarAzimuthAngle : 0|16@1- (1,0) [0|360] "deg" APP
+ SG_ UI_solarAzimuthAngleCarRef : 16|9@1- (1,0) [-180|180] "deg" APP
+ SG_ UI_isSunUp : 25|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_solarElevationAngle : 32|8@1- (1,0) [-90|90] "deg" APP
+
+BO_ 824 UI_status: 8 GTW
+ SG_ UI_touchActive : 0|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_audioActive : 1|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_bluetoothActive : 2|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_cellActive : 3|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_displayReady : 4|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_gpsActive : 5|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_wifiConnected : 6|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_systemActive : 7|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_xmActive : 8|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_displayOn : 9|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_readyForDrive : 10|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_cellConnected : 11|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_vpnActive : 12|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_wifiActive : 13|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_cameraActive : 14|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_usbActive : 15|1@1+ (1,0) [0|0] "" IC
+ SG_ UI_screenshotActive : 16|1@1+ (1,0) [0|0] "" IC,APP
+ SG_ UI_monitorModemPower : 17|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_factoryReset : 18|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ UI_cellNetworkTechnology : 20|4@1+ (1,0) [0|15] "" APP
+ SG_ UI_tegraCoreTemperature : 24|8@1+ (1,-64) [0|0] "deg C" IC
+ SG_ UI_tegraAmbientTemperature : 32|8@1+ (1,-64) [0|0] "deg C" IC
+ SG_ UI_googleWifiUsages : 40|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_autopilotTrial : 48|2@1+ (1,0) [0|0] "" APP
+ SG_ UI_cellSignalBars : 50|3@1+ (1,0) [0|7] "" APP
+ SG_ UI_hardwareType : 53|2@1+ (1,0) [0|3] "" APP
+ SG_ UI_developmentCar : 55|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_cellReceiverPower : 56|8@1+ (1,-128) [-128|127] "dB" APP
+
+BO_ 1064 UI_telemetryControl: 8 GTW
+ SG_ UI_TCR_enable : 0|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_moveStateStanding : 1|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_moveStateStopped : 2|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_moveStateMoving : 3|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_moveStateIndeterm : 4|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classConstElem : 5|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classMovingPed : 6|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classMovingTwoWheel : 7|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classMovingFourWheel : 8|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_classUnknown : 9|1@1+ (1,0) [0|0] "" DAS
+ SG_ UI_TCR_downSampleFactor : 16|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ UI_TCR_wExist : 24|5@1+ (1,0) [0|31] "" Vector__XXX
+ SG_ UI_TCR_vehSpeed : 32|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ UI_TCR_minRCS : 40|8@1+ (0.25,-14) [-14|49.75] "dB" Vector__XXX
+ SG_ UI_TCR_maxDy : 48|5@1+ (0.5,0) [0|15.5] "m" Vector__XXX
+ SG_ UI_TCR_maxObjects : 56|5@1+ (1,0) [0|31] "" Vector__XXX
+ SG_ UI_TCR_maxRoadClass : 61|3@1+ (1,0) [0|7] "" Vector__XXX
+
+BO_ 522 BrakeMessage: 8 XXX
+ SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 921 AutopilotStatus: 8 XXX
+ SG_ autopilotStatus : 0|4@1+ (1,0) [0|0] "" XXX
+
+VAL_ 3 StW_Angl 16383 "SNA" ;
+VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
+VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ;
+VAL_ 3 StW_AnglSpd 16383 "SNA" ;
+VAL_ 14 StW_AnglHP 16383 "SNA" ;
+VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ;
+VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ;
+VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
+VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
+VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
+VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
+VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
+VAL_ 69 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ;
+VAL_ 69 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ;
+VAL_ 69 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ;
+VAL_ 69 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ;
+VAL_ 69 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ;
+VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
+VAL_ 69 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
+VAL_ 69 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
+VAL_ 69 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
+VAL_ 69 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;
+VAL_ 257 GTW_epasControlType 0 "WITHOUT" 1 "WITH_ANGLE" 3 "WITH_BOTH" 2 "WITH_TORQUE" ;
+VAL_ 109 StW_Sw_Stat3 7 "SNA" 6 "NDEF6" 5 "NDEF5" 4 "NDEF4" 3 "PLUS_MINUS" 2 "MINUS" 1 "PLUS" 0 "NPSD" ;
+VAL_ 109 MsgTxmtId 3 "NDEF3" 2 "NDEF2" 1 "SCCM" 0 "EWM" ;
+VAL_ 109 TSL_RND_Posn_StW 15 "SNA" 8 "D" 6 "INI" 4 "N_DOWN" 2 "N_UP" 1 "R" 0 "IDLE" ;
+VAL_ 109 TSL_P_Psd_StW 3 "SNA" 2 "INI" 1 "PSD" 0 "IDLE" ;
+VAL_ 257 GTW_epasEmergencyOn 1 "EMERGENCY_POWER" 0 "NONE" ;
+VAL_ 257 GTW_epasLDWEnabled 1 "ALLOWED" 0 "INHIBITED" ;
+VAL_ 257 GTW_epasPowerMode 0 "DRIVE_OFF" 1 "DRIVE_ON" 3 "LOAD_SHED" 2 "SHUTTING_DOWN" 15 "SNA" ;
+VAL_ 257 GTW_epasTuneRequest 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "SNA" ;
+VAL_ 264 DI_torqueDriver -4096 "SNA" ;
+VAL_ 264 DI_torqueMotor -4096 "SNA" ;
+VAL_ 264 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ;
+VAL_ 264 DI_motorRPM -32768 "SNA" ;
+VAL_ 264 DI_pedalPos 255 "SNA" ;
+VAL_ 280 DI_torqueEstimate -2048 "SNA" ;
+VAL_ 280 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
+VAL_ 280 DI_brakePedal 1 "Applied" 0 "Not_applied" ;
+VAL_ 280 DI_vehicleSpeed 4095 "SNA" ;
+VAL_ 280 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
+VAL_ 280 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ;
+VAL_ 280 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ;
+VAL_ 280 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ;
+VAL_ 280 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
+VAL_ 309 ESP_absBrakeEvent 1 "ACTIVE" 0 "NOT_ACTIVE" ;
+VAL_ 309 ESP_brakeDiscWipingActive 1 "ACTIVE" 0 "INACTIVE" ;
+VAL_ 309 ESP_brakeLamp 0 "OFF" 1 "ON" ;
+VAL_ 309 ESP_espFaultLamp 0 "OFF" 1 "ON" ;
+VAL_ 309 ESP_espLampFlash 1 "FLASH" 0 "OFF" ;
+VAL_ 309 ESP_hillStartAssistActive 1 "ACTIVE" 0 "INACTIVE" 2 "NOT_AVAILABLE" 3 "SNA" ;
+VAL_ 309 ESP_absFaultLamp 0 "OFF" 1 "ON" ;
+VAL_ 309 ESP_espOffLamp 0 "OFF" 1 "ON" ;
+VAL_ 309 ESP_stabilityControlSts 2 "ENGAGED" 3 "FAULTED" 5 "INIT" 4 "NOT_CONFIGURED" 0 "OFF" 1 "ON" ;
+VAL_ 309 ESP_tcLampFlash 1 "FLASH" 0 "OFF" ;
+VAL_ 568 UI_mapSpeedLimit 31 "SNA" 30 "UNLIMITED" 29 "LESS_OR_EQ_160" 28 "LESS_OR_EQ_150" 27 "LESS_OR_EQ_140" 26 "LESS_OR_EQ_130" 25 "LESS_OR_EQ_120" 24 "LESS_OR_EQ_115" 23 "LESS_OR_EQ_110" 22 "LESS_OR_EQ_105" 21 "LESS_OR_EQ_100" 20 "LESS_OR_EQ_95" 19 "LESS_OR_EQ_90" 18 "LESS_OR_EQ_85" 17 "LESS_OR_EQ_80" 16 "LESS_OR_EQ_75" 15 "LESS_OR_EQ_70" 14 "LESS_OR_EQ_65" 13 "LESS_OR_EQ_60" 12 "LESS_OR_EQ_55" 11 "LESS_OR_EQ_50" 10 "LESS_OR_EQ_45" 9 "LESS_OR_EQ_40" 8 "LESS_OR_EQ_35" 7 "LESS_OR_EQ_30" 6 "LESS_OR_EQ_25" 5 "LESS_OR_EQ_20" 4 "LESS_OR_EQ_15" 3 "LESS_OR_EQ_10" 2 "LESS_OR_EQ_7" 1 "LESS_OR_EQ_5" 0 "UNKNOWN" ;
+VAL_ 522 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ;
+VAL_ 760 UI_mapSpeedLimitUnits 1 "KPH" 0 "MPH" ;
+VAL_ 760 UI_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ;
+VAL_ 643 AirTemp_Insd 255 "SNA" ;
+VAL_ 643 AirTemp_Outsd 254 "INIT" 255 "SNA" ;
+VAL_ 643 Bckl_Sw_RL_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
+VAL_ 643 Bckl_Sw_RM_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
+VAL_ 643 Bckl_Sw_RR_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
+VAL_ 643 DL_RLtch_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
+VAL_ 643 DrRLtch_FL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
+VAL_ 643 DrRLtch_FR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
+VAL_ 643 DrRLtch_RL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
+VAL_ 643 DrRLtch_RR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
+VAL_ 643 EngHd_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
+VAL_ 643 LgtSens_Night 0 "DAY" 1 "NIGHT" ;
+VAL_ 643 MPkBrk_Stat 1 "ENGG" 0 "RELS" ;
+VAL_ 643 RevGr_Engg 0 "DISENGG" 1 "ENGG" 2 "NDEF2" 3 "SNA" ;
+VAL_ 643 StW_Cond_Stat 3 "BLINK" 1 "NDEF1" 0 "OFF" 2 "ON" ;
+VAL_ 643 Trlr_Stat 2 "NDEF2" 0 "NONE" 1 "OK" 3 "SNA" ;
+VAL_ 792 BOOT_STATE 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
+VAL_ 792 CERRD 1 "CAN error detect" 0 "no Can error detected" ;
+VAL_ 792 DAY 1 "Init" 0 "SNA" ;
+VAL_ 792 DOOR_STATE_FL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
+VAL_ 792 DOOR_STATE_FR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
+VAL_ 792 DOOR_STATE_FrontTrunk 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
+VAL_ 792 DOOR_STATE_RL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
+VAL_ 792 DOOR_STATE_RR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
+VAL_ 792 GTW_updateInProgress 1 "IN_PROGRESS" 2 "IN_PROGRESS_NOT_USED" 3 "IN_PROGRESS_SNA" 0 "NOT_IN_PROGRESS" ;
+VAL_ 792 Hour 30 "Init" 31 "SNA" ;
+VAL_ 792 MCU_factoryMode 1 "FACTORY_MODE" 0 "NORMAL_MODE" ;
+VAL_ 792 MCU_transportModeOn 0 "NORMAL_MODE" ;
+VAL_ 792 MINUTE 62 "Init" 63 "SNA" ;
+VAL_ 792 MONTH 1 "Init" 15 "SNA" ;
+VAL_ 792 SECOND 62 "Init" 63 "SNA" ;
+VAL_ 792 YEAR 126 "Init" 127 "SNA" ;
+VAL_ 872 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
+VAL_ 872 DI_analogSpeed 4095 "SNA" ;
+VAL_ 872 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ;
+VAL_ 872 DI_digitalSpeed 255 "SNA" ;
+VAL_ 872 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ;
+VAL_ 872 DI_speedUnits 1 "KPH" 0 "MPH" ;
+VAL_ 872 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
+VAL_ 872 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
+VAL_ 872 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
+VAL_ 880 EPAS_currentTuneMode 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "UNAVAILABLE" ;
+VAL_ 880 EPAS_eacErrorCode 14 "EAC_ERROR_EPB_INHIBIT" 3 "EAC_ERROR_HANDS_ON" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 0 "EAC_ERROR_IDLE" 12 "EAC_ERROR_LOW_ASSIST" 2 "EAC_ERROR_MAX_SPEED" 1 "EAC_ERROR_MIN_SPEED" 13 "EAC_ERROR_PINION_VEL_DIFF" 4 "EAC_ERROR_TMP_FAULT" 5 "EAR_ERROR_MAX_STEER_DELTA" 15 "SNA" ;
+VAL_ 880 EPAS_eacStatus 2 "EAC_ACTIVE" 1 "EAC_AVAILABLE" 3 "EAC_FAULT" 0 "EAC_INHIBITED" 4 "SNA" ;
+VAL_ 880 EPAS_handsOnLevel 0 "0" 1 "1" 2 "2" 3 "3" ;
+VAL_ 880 EPAS_steeringFault 1 "FAULT" 0 "NO_FAULT" ;
+VAL_ 880 EPAS_steeringRackForce 1022 "NOT_IN_SPEC" 1023 "SNA" ;
+VAL_ 880 EPAS_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ;
+VAL_ 880 EPAS_torsionBarTorque 0 "SEE_SPECIFICATION" 4095 "SNA" 4094 "UNDEFINABLE_DATA" ;
+VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
+VAL_ 921 autopilotStatus 5 "ACTIVE_NAVIGATE_ON_AUTOPILOT" 4 "ACTIVE_2" 3 "ACTIVE_1" 2 "AVAILABLE" 1 "UNAVAILABLE" 0 "DISABLED" ;
+VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
+VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
+VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
+
+
+CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";

opendbc/toyota_avalon_2017_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/toyota_camry_hybrid_2018_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/toyota_corolla_2017_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/toyota_highlander_2017_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/toyota_nodsu_hybrid_pt_generated.dbc

@@ -1,7 +1,20 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
+CM_ "Imported file _toyota_nodsu_common.dbc starts here";
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-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_ 1014 BSM: 8 XXX
  SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
@@ -180,7 +193,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -213,6 +226,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -275,8 +291,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -285,6 +303,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -344,6 +366,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -371,6 +394,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -381,7 +405,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 

opendbc/toyota_nodsu_pt_generated.dbc

@@ -1,7 +1,20 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
+CM_ "Imported file _toyota_nodsu_common.dbc starts here";
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-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_ 1014 BSM: 8 XXX
  SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
@@ -180,7 +193,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -213,6 +226,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -275,8 +291,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -285,6 +303,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -344,6 +366,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -371,6 +394,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -381,7 +405,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 
 
@@ -392,19 +416,6 @@ CM_ "toyota_nodsu_pt.dbc starts here";
 
 
 
-BO_ 401 STEERING_LTA: 8 XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
- SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-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
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX

opendbc/toyota_prius_2017_pt_generated.dbc

@@ -163,7 +163,7 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
  SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
 BO_ 1041 ACC_HUD: 8 DSU
  SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
@@ -258,8 +261,10 @@ BO_ 1553 UI_SETTING: 8 XXX
 
 BO_ 1556 STEERING_LEVERS: 8 XXX
  SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -268,6 +273,10 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 
 BO_ 1570 LIGHT_STALK: 8 SCM
  SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 1161 RSA1: 8 FCM
  SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
@@ -327,6 +336,7 @@ 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 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
 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";
@@ -354,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
@@ -364,7 +375,7 @@ VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
 VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
-VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";