openpilot v0.9.7 release

date: 2024-06-11T01:36:39
master commit: f8cb04e4a8

opendbc/README.md

@@ -0,0 +1,49 @@
+## DBC file basics
+
+A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file.
+Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) and [Here](https://github.com/stefanhoelzl/CANpy/blob/master/docs/DBC_Specification.md) a couple of good overviews.
+
+## How to start reverse engineering cars
+
+[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
+
+Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
+
+## How to use reverse engineered DBC
+To create custom CAN simulations or send reverse engineered signals back to the car you can use [CANdevStudio](https://github.com/GENIVI/CANdevStudio) project.
+
+## DBC file preprocessor
+
+DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated.
+
+## Good practices for contributing to opendbc
+
+- Comments: the best way to store comments is to add them directly to the DBC files. For example:
+    ```
+    CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+    ```
+    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
+
+- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better.
+For example:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM
+    ```
+    is better than:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM
+    ```
+    However, the cleanest option is really:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
+    ```
+
+- Signal size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
+    ```
+    SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
+    ```
+    However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is:
+    ```
+    SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM
+    ```
+    which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else.

opendbc/SConstruct

@@ -0,0 +1,85 @@
+import os
+import subprocess
+import sysconfig
+import numpy as np
+
+zmq = 'zmq'
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+
+cereal_dir = Dir('.')
+
+python_path = sysconfig.get_paths()['include']
+cpppath = [
+  '#',
+  '/usr/lib/include',
+  python_path
+]
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=True,
+          help='the minimum build. no tests, tools, etc.')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-vla-cxx-extension",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+  LIBPATH=[
+    "#opendbc/can/",
+  ],
+  CFLAGS="-std=gnu11",
+  CXXFLAGS=["-std=c++1z"],
+  CPPPATH=cpppath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+common = ''
+Export('env', 'zmq', 'arch', 'common')
+
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+Export('cereal', 'messaging')
+
+
+envCython = env.Clone()
+envCython["CPPPATH"] += [np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
+
+python_libs = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+
+  python_libs.append(os.path.basename(python_path))
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+envCython["LIBS"] = python_libs
+
+Export('envCython')
+
+
+SConscript(['cereal/SConscript'])
+SConscript(['opendbc/can/SConscript'])

opendbc/acura_ilx_2016_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/acura_rdx_2018_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/can/SConscript

@@ -22,3 +22,7 @@ packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
 
 lenv.Depends(parser, libdbc)
 lenv.Depends(packer, libdbc)
+
+opendbc_python = Alias("opendbc_python", [parser, packer])
+
+Export('opendbc_python')

opendbc/can/common.cc

@@ -102,11 +102,15 @@ void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) {
   }
 }
 
-void init_crc_lookup_tables() {
-  // At init time, set up static lookup tables for fast CRC computation.
-  gen_crc_lookup_table_8(0x2F, crc8_lut_8h2f);    // CRC-8 8H2F/AUTOSAR for Volkswagen
-  gen_crc_lookup_table_16(0x1021, crc16_lut_xmodem);    // CRC-16 XMODEM for HKG CAN FD
-}
+// Initializes CRC lookup tables at module initialization
+struct CrcInitializer {
+  CrcInitializer() {
+    gen_crc_lookup_table_8(0x2F, crc8_lut_8h2f);    // CRC-8 8H2F/AUTOSAR for Volkswagen
+    gen_crc_lookup_table_16(0x1021, crc16_lut_xmodem);    // CRC-16 XMODEM for HKG CAN FD
+  }
+};
+
+static CrcInitializer crcInitializer;
 
 unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
   // Volkswagen uses standard CRC8 8H2F/AUTOSAR, but they compute it with

opendbc/can/common.h

@@ -13,6 +13,7 @@
 #include "cereal/gen/cpp/log.capnp.h"
 #endif
 
+#include "opendbc/can/logger.h"
 #include "opendbc/can/common_dbc.h"
 
 #define INFO printf
@@ -23,8 +24,6 @@
 #define MAX_BAD_COUNTER 5
 #define CAN_INVALID_CNT 5
 
-void init_crc_lookup_tables();
-
 // Car specific functions
 unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
 unsigned int toyota_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
@@ -92,11 +91,10 @@ class CANPacker {
 private:
   const DBC *dbc = NULL;
   std::map<std::pair<uint32_t, std::string>, Signal> signal_lookup;
-  std::map<uint32_t, Msg> message_lookup;
   std::map<uint32_t, uint32_t> counters;
 
 public:
   CANPacker(const std::string& dbc_name);
   std::vector<uint8_t> pack(uint32_t address, const std::vector<SignalPackValue> &values);
-  Msg* lookup_message(uint32_t address);
+  const Msg* lookup_message(uint32_t address);
 };

opendbc/can/common.pxd

@@ -6,6 +6,7 @@ from libcpp cimport bool
 from libcpp.pair cimport pair
 from libcpp.string cimport string
 from libcpp.vector cimport vector
+from libcpp.unordered_map cimport unordered_map
 
 
 ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &)
@@ -48,6 +49,8 @@ cdef extern from "common_dbc.h":
     string name
     vector[Msg] msgs
     vector[Val] vals
+    unordered_map[uint32_t, const Msg*] addr_to_msg
+    unordered_map[string, const Msg*] name_to_msg
 
   cdef struct SignalValue:
     uint32_t address

opendbc/can/common_dbc.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include <cstddef>
 #include <cstdint>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
 struct SignalPackValue {
@@ -59,6 +59,8 @@ struct DBC {
   std::string name;
   std::vector<Msg> msgs;
   std::vector<Val> vals;
+  std::unordered_map<uint32_t, const Msg*> addr_to_msg;
+  std::unordered_map<std::string, const Msg*> name_to_msg;
 };
 
 typedef struct ChecksumState {

opendbc/can/dbc.cc

@@ -200,6 +200,8 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch
 
   for (auto& m : dbc->msgs) {
     m.sigs = signals[m.address];
+    dbc->addr_to_msg[m.address] = &m;
+    dbc->name_to_msg[m.name] = &m;
   }
   for (auto& v : dbc->vals) {
     v.sigs = signals[v.address];

opendbc/can/logger.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#ifdef SWAGLOG
+// cppcheck-suppress preprocessorErrorDirective
+#include SWAGLOG
+#else
+
+#define CLOUDLOG_DEBUG 10
+#define CLOUDLOG_INFO 20
+#define CLOUDLOG_WARNING 30
+#define CLOUDLOG_ERROR 40
+#define CLOUDLOG_CRITICAL 50
+
+#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
+#define cloudlog_rl(burst, millis, lvl, fmt, ...) printf(fmt "\n", ##__VA_ARGS__)
+
+#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#define LOGD_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
+#define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
+#define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
+#define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
+
+#endif

opendbc/can/packer.cc

@@ -33,16 +33,20 @@ CANPacker::CANPacker(const std::string& dbc_name) {
   assert(dbc);
 
   for (const auto& msg : dbc->msgs) {
-    message_lookup[msg.address] = msg;
     for (const auto& sig : msg.sigs) {
       signal_lookup[std::make_pair(msg.address, sig.name)] = sig;
     }
   }
-  init_crc_lookup_tables();
 }
 
 std::vector<uint8_t> CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &signals) {
-  std::vector<uint8_t> ret(message_lookup[address].size, 0);
+  auto msg_it = dbc->addr_to_msg.find(address);
+  if (msg_it == dbc->addr_to_msg.end()) {
+    LOGE("undefined address %d", address);
+    return {};
+  }
+
+  std::vector<uint8_t> ret(msg_it->second->size, 0);
 
   // set all values for all given signal/value pairs
   bool counter_set = false;
@@ -50,7 +54,7 @@ std::vector<uint8_t> CANPacker::pack(uint32_t address, const std::vector<SignalP
     auto sig_it = signal_lookup.find(std::make_pair(address, sigval.name));
     if (sig_it == signal_lookup.end()) {
       // TODO: do something more here. invalid flag like CANParser?
-      WARN("undefined signal %s - %d\n", sigval.name.c_str(), address);
+      LOGE("undefined signal %s - %d\n", sigval.name.c_str(), address);
       continue;
     }
     const auto &sig = sig_it->second;
@@ -61,9 +65,9 @@ std::vector<uint8_t> CANPacker::pack(uint32_t address, const std::vector<SignalP
     }
     set_value(ret, sig, ival);
 
-    counter_set = counter_set || (sigval.name == "COUNTER");
-    if (counter_set) {
+    if (sigval.name == "COUNTER") {
       counters[address] = sigval.value;
+      counter_set = true;
     }
   }
 
@@ -93,6 +97,6 @@ std::vector<uint8_t> CANPacker::pack(uint32_t address, const std::vector<SignalP
 }
 
 // This function has a definition in common.h and is used in PlotJuggler
-Msg* CANPacker::lookup_message(uint32_t address) {
-  return &message_lookup[address];
+const Msg* CANPacker::lookup_message(uint32_t address) {
+  return dbc->addr_to_msg.at(address);
 }

opendbc/can/packer_pyx.pyx

@@ -1,20 +1,17 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3
 
-from libc.stdint cimport uint8_t
+from libc.stdint cimport uint8_t, uint32_t
 from libcpp.vector cimport vector
-from libcpp.map cimport map
-from libcpp.string cimport string
 
 from .common cimport CANPacker as cpp_CANPacker
-from .common cimport dbc_lookup, SignalPackValue, DBC
+from .common cimport dbc_lookup, SignalPackValue, DBC, Msg
 
 
 cdef class CANPacker:
   cdef:
     cpp_CANPacker *packer
     const DBC *dbc
-    map[string, int] name_to_address
 
   def __init__(self, dbc_name):
     self.dbc = dbc_lookup(dbc_name)
@@ -22,9 +19,6 @@ cdef class CANPacker:
       raise RuntimeError(f"Can't lookup {dbc_name}")
 
     self.packer = new cpp_CANPacker(dbc_name)
-    for i in range(self.dbc[0].msgs.size()):
-      msg = self.dbc[0].msgs[i]
-      self.name_to_address[string(msg.name)] = msg.address
 
   def __dealloc__(self):
     if self.packer:
@@ -43,11 +37,17 @@ cdef class CANPacker:
     return self.packer.pack(addr, values_thing)
 
   cpdef make_can_msg(self, name_or_addr, bus, values):
-    cdef int addr
+    cdef uint32_t addr = 0
+    cdef const Msg* m
     if isinstance(name_or_addr, int):
       addr = name_or_addr
     else:
-      addr = self.name_to_address[name_or_addr.encode("utf8")]
+      try:
+        m = self.dbc.name_to_msg.at(name_or_addr.encode("utf8"))
+        addr = m.address
+      except IndexError:
+        # The C++ pack function will log an error message for invalid addresses
+        pass
 
     cdef vector[uint8_t] val = self.pack(addr, values)
     return [addr, 0, (<char *>&val[0])[:val.size()], bus]

opendbc/can/parser.cc

@@ -10,7 +10,6 @@
 #include <sys/stat.h>
 #include <sys/mman.h>
 
-#include "cereal/logger/logger.h"
 #include "opendbc/can/common.h"
 
 int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
@@ -65,7 +64,7 @@ bool MessageState::parse(uint64_t nanos, const std::vector<uint8_t> &dat) {
 
   // only update values if both checksum and counter are valid
   if (checksum_failed || counter_failed) {
-    LOGE("0x%X message checks failed, checksum failed %d, counter failed %d", address, checksum_failed, counter_failed);
+    LOGE_100("0x%X message checks failed, checksum failed %d, counter failed %d", address, checksum_failed, counter_failed);
     return false;
   }
 
@@ -97,7 +96,6 @@ CANParser::CANParser(int abus, const std::string& dbc_name, const std::vector<st
   : bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {
   dbc = dbc_lookup(dbc_name);
   assert(dbc);
-  init_crc_lookup_tables();
 
   bus_timeout_threshold = std::numeric_limits<uint64_t>::max();
 
@@ -121,18 +119,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name, const std::vector<st
       bus_timeout_threshold = std::min(bus_timeout_threshold, state.check_threshold);
     }
 
-    const Msg* msg = NULL;
-    for (const auto& m : dbc->msgs) {
-      if (m.address == address) {
-        msg = &m;
-        break;
-      }
-    }
-    if (!msg) {
-      fprintf(stderr, "CANParser: could not find message 0x%X in DBC %s\n", address, dbc_name.c_str());
-      assert(false);
-    }
-
+    const Msg *msg = dbc->addr_to_msg.at(address);
     state.name = msg->name;
     state.size = msg->size;
     assert(state.size <= 64);  // max signal size is 64 bytes
@@ -150,7 +137,6 @@ CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum
 
   dbc = dbc_lookup(dbc_name);
   assert(dbc);
-  init_crc_lookup_tables();
 
   for (const auto& msg : dbc->msgs) {
     MessageState state = {
@@ -238,7 +224,10 @@ void CANParser::UpdateCans(uint64_t nanos, const capnp::List<cereal::CanData>::R
     //  continue;
     //}
 
-    std::vector<uint8_t> data(dat.size(), 0);
+    // TODO: can remove when we ignore unexpected can msg lengths
+    // make sure the data_size is not less than state_it->second.size
+    size_t data_size = std::max<size_t>(dat.size(), state_it->second.size);
+    std::vector<uint8_t> data(data_size, 0);
     memcpy(data.data(), dat.begin(), dat.size());
     state_it->second.parse(nanos, data);
   }
@@ -290,9 +279,9 @@ void CANParser::UpdateValid(uint64_t nanos) {
     if (state.check_threshold > 0 && (missing || timed_out)) {
       if (show_missing && !bus_timeout) {
         if (missing) {
-          LOGE("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
+          LOGE_100("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
         } else if (timed_out) {
-          LOGE("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
+          LOGE_100("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
         }
       }
       _valid = false;

opendbc/can/parser_pyx.pyx

@@ -5,7 +5,6 @@ from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.pair cimport pair
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp.unordered_set cimport unordered_set
 from libc.stdint cimport uint32_t
 
 from .common cimport CANParser as cpp_CANParser
@@ -20,6 +19,7 @@ cdef class CANParser:
     cpp_CANParser *can
     const DBC *dbc
     vector[SignalValue] can_values
+    vector[uint32_t] addresses
 
   cdef readonly:
     dict vl
@@ -36,29 +36,24 @@ cdef class CANParser:
     self.vl = {}
     self.vl_all = {}
     self.ts_nanos = {}
-    msg_name_to_address = {}
-    address_to_msg_name = {}
-
-    for i in range(self.dbc[0].msgs.size()):
-      msg = self.dbc[0].msgs[i]
-      name = msg.name.decode("utf8")
-
-      msg_name_to_address[name] = msg.address
-      address_to_msg_name[msg.address] = name
 
     # Convert message names into addresses and check existence in DBC
     cdef vector[pair[uint32_t, int]] message_v
     for i in range(len(messages)):
       c = messages[i]
-      address = c[0] if isinstance(c[0], numbers.Number) else msg_name_to_address.get(c[0])
-      if address not in address_to_msg_name:
+      try:
+        m = self.dbc.addr_to_msg.at(c[0]) if isinstance(c[0], numbers.Number) else self.dbc.name_to_msg.at(c[0])
+      except IndexError:
         raise RuntimeError(f"could not find message {repr(c[0])} in DBC {self.dbc_name}")
-      message_v.push_back((address, c[1]))
 
-      name = address_to_msg_name[address]
+      address = m.address
+      message_v.push_back((address, c[1]))
+      self.addresses.push_back(address)
+
+      name = m.name.decode("utf8")
       self.vl[address] = {}
       self.vl[name] = self.vl[address]
-      self.vl_all[address] = {}
+      self.vl_all[address] = defaultdict(list)
       self.vl_all[name] = self.vl_all[address]
       self.ts_nanos[address] = {}
       self.ts_nanos[name] = self.ts_nanos[address]
@@ -71,24 +66,35 @@ cdef class CANParser:
       del self.can
 
   def update_strings(self, strings, sendcan=False):
-    for v in self.vl_all.values():
-      for l in v.values():  # no-cython-lint
-        l.clear()
+    for address in self.addresses:
+      self.vl_all[address].clear()
 
     cdef vector[SignalValue] new_vals
-    cdef unordered_set[uint32_t] updated_addrs
+    cur_address = -1
+    vl = {}
+    vl_all = {}
+    ts_nanos = {}
+    updated_addrs = set()
 
     self.can.update_strings(strings, new_vals, sendcan)
     cdef vector[SignalValue].iterator it = new_vals.begin()
     cdef SignalValue* cv
     while it != new_vals.end():
       cv = &deref(it)
+
+      # Check if the address has changed
+      if cv.address != cur_address:
+        cur_address = cv.address
+        vl = self.vl[cur_address]
+        vl_all = self.vl_all[cur_address]
+        ts_nanos = self.ts_nanos[cur_address]
+        updated_addrs.add(cur_address)
+
       # Cast char * directly to unicode
       cv_name = <unicode>cv.name
-      self.vl[cv.address][cv_name] = cv.value
-      self.vl_all[cv.address][cv_name] = cv.all_values
-      self.ts_nanos[cv.address][cv_name] = cv.ts_nanos
-      updated_addrs.insert(cv.address)
+      vl[cv_name] = cv.value
+      vl_all[cv_name] = cv.all_values
+      ts_nanos[cv_name] = cv.ts_nanos
       preinc(it)
 
     return updated_addrs
@@ -116,14 +122,6 @@ cdef class CANDefine():
     if not self.dbc:
       raise RuntimeError(f"Can't find DBC: '{dbc_name}'")
 
-    address_to_msg_name = {}
-
-    for i in range(self.dbc[0].msgs.size()):
-      msg = self.dbc[0].msgs[i]
-      name = msg.name.decode("utf8")
-      address = msg.address
-      address_to_msg_name[address] = name
-
     dv = defaultdict(dict)
 
     for i in range(self.dbc[0].vals.size()):
@@ -132,7 +130,11 @@ cdef class CANDefine():
       sgname = val.name.decode("utf8")
       def_val = val.def_val.decode("utf8")
       address = val.address
-      msgname = address_to_msg_name[address]
+      try:
+        m = self.dbc.addr_to_msg.at(address)
+      except IndexError:
+        raise KeyError(address)
+      msgname = m.name.decode("utf-8")
 
       # separate definition/value pairs
       def_val = def_val.split()

opendbc/can/tests/.gitignore

@@ -0,0 +1 @@
+*.bz2

opendbc/can/tests/__init__.py

@@ -0,0 +1,8 @@
+import glob
+import os
+
+from opendbc import DBC_PATH
+
+ALL_DBCS = [os.path.basename(dbc).split('.')[0] for dbc in
+            glob.glob(f"{DBC_PATH}/*.dbc")]
+TEST_DBC = os.path.abspath(os.path.join(os.path.dirname(__file__), "test.dbc"))

opendbc/can/tests/test_checksums.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+import unittest
+
+from opendbc.can.parser import CANParser
+from opendbc.can.packer import CANPacker
+from opendbc.can.tests.test_packer_parser import can_list_to_can_capnp
+
+
+class TestCanChecksums(unittest.TestCase):
+
+  def test_honda_checksum(self):
+    """Test checksums for Honda standard and extended CAN ids"""
+    dbc_file = "honda_accord_2018_can_generated"
+    msgs = [("LKAS_HUD", 0), ("LKAS_HUD_A", 0)]
+    parser = CANParser(dbc_file, msgs, 0)
+    packer = CANPacker(dbc_file)
+
+    values = {
+      'SET_ME_X41': 0x41,
+      'STEERING_REQUIRED': 1,
+      'SOLID_LANES': 1,
+      'BEEP': 0,
+    }
+
+    # known correct checksums according to the above values
+    checksum_std = [11, 10, 9, 8]
+    checksum_ext = [4, 3, 2, 1]
+
+    for std, ext in zip(checksum_std, checksum_ext):
+      msgs = [
+        packer.make_can_msg("LKAS_HUD", 0, values),
+        packer.make_can_msg("LKAS_HUD_A", 0, values),
+      ]
+      can_strings = [can_list_to_can_capnp(msgs), ]
+      parser.update_strings(can_strings)
+
+      self.assertEqual(parser.vl['LKAS_HUD']['CHECKSUM'], std)
+      self.assertEqual(parser.vl['LKAS_HUD_A']['CHECKSUM'], ext)
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc/can/tests/test_dbc_exceptions.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+
+import unittest
+
+from opendbc.can.parser import CANParser, CANDefine
+from opendbc.can.packer import CANPacker
+from opendbc.can.tests import TEST_DBC
+
+
+class TestCanParserPackerExceptions(unittest.TestCase):
+  def test_civic_exceptions(self):
+    dbc_file = "honda_civic_touring_2016_can_generated"
+    dbc_invalid = dbc_file + "abcdef"
+    msgs = [("STEERING_CONTROL", 50)]
+    with self.assertRaises(RuntimeError):
+      CANParser(dbc_invalid, msgs, 0)
+    with self.assertRaises(RuntimeError):
+      CANPacker(dbc_invalid)
+    with self.assertRaises(RuntimeError):
+      CANDefine(dbc_invalid)
+    with self.assertRaises(KeyError):
+      CANDefine(TEST_DBC)
+
+    parser = CANParser(dbc_file, msgs, 0)
+    with self.assertRaises(RuntimeError):
+      parser.update_strings([b''])
+
+    # Everything is supposed to work below
+    CANParser(dbc_file, msgs, 0)
+    CANParser(dbc_file, [], 0)
+    CANPacker(dbc_file)
+    CANDefine(dbc_file)
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc/can/tests/test_dbc_parser.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+import unittest
+
+from opendbc.can.parser import CANParser
+from opendbc.can.tests import ALL_DBCS
+
+
+class TestDBCParser(unittest.TestCase):
+  def test_enough_dbcs(self):
+    # sanity check that we're running on the real DBCs
+    self.assertGreater(len(ALL_DBCS), 20)
+
+  def test_parse_all_dbcs(self):
+    """
+      Dynamic DBC parser checks:
+        - Checksum and counter length, start bit, endianness
+        - Duplicate message addresses and names
+        - Signal out of bounds
+        - All BO_, SG_, VAL_ lines for syntax errors
+    """
+
+    for dbc in ALL_DBCS:
+      with self.subTest(dbc=dbc):
+        CANParser(dbc, [], 0)
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc/can/tests/test_define.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import unittest
+
+from opendbc.can.can_define import CANDefine
+from opendbc.can.tests import ALL_DBCS
+
+
+class TestCADNDefine(unittest.TestCase):
+  def test_civic(self):
+
+    dbc_file = "honda_civic_touring_2016_can_generated"
+    defs = CANDefine(dbc_file)
+
+    self.assertDictEqual(defs.dv[399], defs.dv['STEER_STATUS'])
+    self.assertDictEqual(defs.dv[399],
+                         {'STEER_STATUS':
+                          {7: 'PERMANENT_FAULT',
+                           6: 'TMP_FAULT',
+                           5: 'FAULT_1',
+                           4: 'NO_TORQUE_ALERT_2',
+                           3: 'LOW_SPEED_LOCKOUT',
+                           2: 'NO_TORQUE_ALERT_1',
+                           0: 'NORMAL'}
+                          }
+                         )
+
+  def test_all_dbcs(self):
+    # Asserts no exceptions on all DBCs
+    for dbc in ALL_DBCS:
+      with self.subTest(dbc=dbc):
+        CANDefine(dbc)
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc/can/tests/test_packer_parser.py

@@ -0,0 +1,399 @@
+#!/usr/bin/env python3
+import unittest
+import random
+
+import cereal.messaging as messaging
+from opendbc.can.parser import CANParser
+from opendbc.can.packer import CANPacker
+from opendbc.can.tests import TEST_DBC
+
+MAX_BAD_COUNTER = 5
+
+
+# Python implementation so we don't have to depend on boardd
+def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None):
+  dat = messaging.new_message(msgtype, len(can_msgs))
+
+  if logMonoTime is not None:
+    dat.logMonoTime = logMonoTime
+
+  for i, can_msg in enumerate(can_msgs):
+    if msgtype == 'sendcan':
+      cc = dat.sendcan[i]
+    else:
+      cc = dat.can[i]
+
+    cc.address = can_msg[0]
+    cc.busTime = can_msg[1]
+    cc.dat = bytes(can_msg[2])
+    cc.src = can_msg[3]
+
+  return dat.to_bytes()
+
+
+class TestCanParserPacker(unittest.TestCase):
+  def test_packer(self):
+    packer = CANPacker(TEST_DBC)
+
+    for b in range(6):
+      for i in range(256):
+        values = {"COUNTER": i}
+        addr, _, dat, bus = packer.make_can_msg("CAN_FD_MESSAGE", b, values)
+        self.assertEqual(addr, 245)
+        self.assertEqual(bus, b)
+        self.assertEqual(dat[0], i)
+
+  def test_packer_counter(self):
+    msgs = [("CAN_FD_MESSAGE", 0), ]
+    packer = CANPacker(TEST_DBC)
+    parser = CANParser(TEST_DBC, msgs, 0)
+
+    # packer should increment the counter
+    for i in range(1000):
+      msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
+      dat = can_list_to_can_capnp([msg, ])
+      parser.update_strings([dat])
+      self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], i % 256)
+
+    # setting COUNTER should override
+    for _ in range(100):
+      cnt = random.randint(0, 255)
+      msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {
+        "COUNTER": cnt,
+        "SIGNED": 0
+      })
+      dat = can_list_to_can_capnp([msg, ])
+      parser.update_strings([dat])
+      self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], cnt)
+
+    # then, should resume counting from the override value
+    cnt = parser.vl["CAN_FD_MESSAGE"]["COUNTER"]
+    for i in range(100):
+      msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
+      dat = can_list_to_can_capnp([msg, ])
+      parser.update_strings([dat])
+      self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], (cnt + i) % 256)
+
+  def test_parser_can_valid(self):
+    msgs = [("CAN_FD_MESSAGE", 10), ]
+    packer = CANPacker(TEST_DBC)
+    parser = CANParser(TEST_DBC, msgs, 0)
+
+    # shouldn't be valid initially
+    self.assertFalse(parser.can_valid)
+
+    # not valid until the message is seen
+    for _ in range(100):
+      dat = can_list_to_can_capnp([])
+      parser.update_strings([dat])
+      self.assertFalse(parser.can_valid)
+
+    # valid once seen
+    for i in range(1, 100):
+      t = int(0.01 * i * 1e9)
+      msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
+      dat = can_list_to_can_capnp([msg, ], logMonoTime=t)
+      parser.update_strings([dat])
+      self.assertTrue(parser.can_valid)
+
+  def test_parser_counter_can_valid(self):
+    """
+    Tests number of allowed bad counters + ensures CAN stays invalid
+    while receiving invalid messages + that we can recover
+    """
+    msgs = [
+      ("STEERING_CONTROL", 0),
+    ]
+    packer = CANPacker("honda_civic_touring_2016_can_generated")
+    parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
+
+    msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 0})
+    bts = can_list_to_can_capnp([msg])
+
+    # bad static counter, invalid once it's seen MAX_BAD_COUNTER messages
+    for idx in range(0x1000):
+      parser.update_strings([bts])
+      self.assertEqual((idx + 1) < MAX_BAD_COUNTER, parser.can_valid)
+
+    # one to recover
+    msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 1})
+    bts = can_list_to_can_capnp([msg])
+    parser.update_strings([bts])
+    self.assertTrue(parser.can_valid)
+
+  def test_parser_no_partial_update(self):
+    """
+    Ensure that the CANParser doesn't partially update messages with invalid signals (COUNTER/CHECKSUM).
+    Previously, the signal update loop would only break once it got to one of these invalid signals,
+    after already updating most/all of the signals.
+    """
+    msgs = [
+      ("STEERING_CONTROL", 0),
+    ]
+    packer = CANPacker("honda_civic_touring_2016_can_generated")
+    parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
+
+    def rx_steering_msg(values, bad_checksum=False):
+      msg = packer.make_can_msg("STEERING_CONTROL", 0, values)
+      if bad_checksum:
+        # add 1 to checksum
+        msg[2] = bytearray(msg[2])
+        msg[2][4] = (msg[2][4] & 0xF0) | ((msg[2][4] & 0x0F) + 1)
+
+      bts = can_list_to_can_capnp([msg])
+      parser.update_strings([bts])
+
+    rx_steering_msg({"STEER_TORQUE": 100}, bad_checksum=False)
+    self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100)
+    self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [100])
+
+    for _ in range(5):
+      rx_steering_msg({"STEER_TORQUE": 200}, bad_checksum=True)
+      self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100)
+      self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [])
+
+    # Even if CANParser doesn't update instantaneous vl, make sure it didn't add invalid values to vl_all
+    rx_steering_msg({"STEER_TORQUE": 300}, bad_checksum=False)
+    self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 300)
+    self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [300])
+
+  def test_packer_parser(self):
+    msgs = [
+      ("Brake_Status", 0),
+      ("CAN_FD_MESSAGE", 0),
+      ("STEERING_CONTROL", 0),
+    ]
+    packer = CANPacker(TEST_DBC)
+    parser = CANParser(TEST_DBC, msgs, 0)
+
+    for steer in range(-256, 255):
+      for active in (1, 0):
+        values = {
+          "STEERING_CONTROL": {
+            "STEER_TORQUE": steer,
+            "STEER_TORQUE_REQUEST": active,
+          },
+          "Brake_Status": {
+            "Signal1": 61042322657536.0,
+          },
+          "CAN_FD_MESSAGE": {
+            "SIGNED": steer,
+            "64_BIT_LE": random.randint(0, 100),
+            "64_BIT_BE": random.randint(0, 100),
+          },
+        }
+
+        msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
+        bts = can_list_to_can_capnp(msgs)
+        parser.update_strings([bts])
+
+        for k, v in values.items():
+          for key, val in v.items():
+            self.assertAlmostEqual(parser.vl[k][key], val)
+
+        # also check address
+        for sig in ("STEER_TORQUE", "STEER_TORQUE_REQUEST", "COUNTER", "CHECKSUM"):
+          self.assertEqual(parser.vl["STEERING_CONTROL"][sig], parser.vl[228][sig])
+
+  def test_scale_offset(self):
+    """Test that both scale and offset are correctly preserved"""
+    dbc_file = "honda_civic_touring_2016_can_generated"
+    msgs = [("VSA_STATUS", 50)]
+    parser = CANParser(dbc_file, msgs, 0)
+    packer = CANPacker(dbc_file)
+
+    for brake in range(100):
+      values = {"USER_BRAKE": brake}
+      msgs = packer.make_can_msg("VSA_STATUS", 0, values)
+      bts = can_list_to_can_capnp([msgs])
+
+      parser.update_strings([bts])
+
+      self.assertAlmostEqual(parser.vl["VSA_STATUS"]["USER_BRAKE"], brake)
+
+  def test_subaru(self):
+    # Subaru is little endian
+
+    dbc_file = "subaru_global_2017_generated"
+
+    msgs = [("ES_LKAS", 50)]
+
+    parser = CANParser(dbc_file, msgs, 0)
+    packer = CANPacker(dbc_file)
+
+    idx = 0
+    for steer in range(-256, 255):
+      for active in [1, 0]:
+        values = {
+          "LKAS_Output": steer,
+          "LKAS_Request": active,
+          "SET_1": 1
+        }
+
+        msgs = packer.make_can_msg("ES_LKAS", 0, values)
+        bts = can_list_to_can_capnp([msgs])
+        parser.update_strings([bts])
+
+        self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Output"], steer)
+        self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Request"], active)
+        self.assertAlmostEqual(parser.vl["ES_LKAS"]["SET_1"], 1)
+        self.assertAlmostEqual(parser.vl["ES_LKAS"]["COUNTER"], idx % 16)
+        idx += 1
+
+  def test_bus_timeout(self):
+    """Test CAN bus timeout detection"""
+    dbc_file = "honda_civic_touring_2016_can_generated"
+
+    freq = 100
+    msgs = [("VSA_STATUS", freq), ("STEER_MOTOR_TORQUE", freq/2)]
+
+    parser = CANParser(dbc_file, msgs, 0)
+    packer = CANPacker(dbc_file)
+
+    i = 0
+    def send_msg(blank=False):
+      nonlocal i
+      i += 1
+      t = i*((1 / freq) * 1e9)
+
+      if blank:
+        msgs = []
+      else:
+        msgs = [packer.make_can_msg("VSA_STATUS", 0, {}), ]
+
+      can = can_list_to_can_capnp(msgs, logMonoTime=t)
+      parser.update_strings([can, ])
+
+    # all good, no timeout
+    for _ in range(1000):
+      send_msg()
+      self.assertFalse(parser.bus_timeout, str(_))
+
+    # timeout after 10 blank msgs
+    for n in range(200):
+      send_msg(blank=True)
+      self.assertEqual(n >= 10, parser.bus_timeout)
+
+    # no timeout immediately after seen again
+    send_msg()
+    self.assertFalse(parser.bus_timeout)
+
+  def test_updated(self):
+    """Test updated value dict"""
+    dbc_file = "honda_civic_touring_2016_can_generated"
+    msgs = [("VSA_STATUS", 50)]
+    parser = CANParser(dbc_file, msgs, 0)
+    packer = CANPacker(dbc_file)
+
+    # Make sure nothing is updated
+    self.assertEqual(len(parser.vl_all["VSA_STATUS"]["USER_BRAKE"]), 0)
+
+    idx = 0
+    for _ in range(10):
+      # Ensure CANParser holds the values of any duplicate messages over multiple frames
+      user_brake_vals = [random.randrange(100) for _ in range(random.randrange(5, 10))]
+      half_idx = len(user_brake_vals) // 2
+      can_msgs = [[], []]
+      for frame, brake_vals in enumerate((user_brake_vals[:half_idx], user_brake_vals[half_idx:])):
+        for user_brake in brake_vals:
+          values = {"USER_BRAKE": user_brake}
+          can_msgs[frame].append(packer.make_can_msg("VSA_STATUS", 0, values))
+          idx += 1
+
+      can_strings = [can_list_to_can_capnp(msgs) for msgs in can_msgs]
+      parser.update_strings(can_strings)
+      vl_all = parser.vl_all["VSA_STATUS"]["USER_BRAKE"]
+
+      self.assertEqual(vl_all, user_brake_vals)
+      if len(user_brake_vals):
+        self.assertEqual(vl_all[-1], parser.vl["VSA_STATUS"]["USER_BRAKE"])
+
+  def test_timestamp_nanos(self):
+    """Test message timestamp dict"""
+    dbc_file = "honda_civic_touring_2016_can_generated"
+
+    msgs = [
+      ("VSA_STATUS", 50),
+      ("POWERTRAIN_DATA", 100),
+    ]
+
+    parser = CANParser(dbc_file, msgs, 0)
+    packer = CANPacker(dbc_file)
+
+    # Check the default timestamp is zero
+    for msg in ("VSA_STATUS", "POWERTRAIN_DATA"):
+      ts_nanos = parser.ts_nanos[msg].values()
+      self.assertEqual(set(ts_nanos), {0})
+
+    # Check:
+    # - timestamp is only updated for correct messages
+    # - timestamp is correct for multiple runs
+    # - timestamp is from the latest message if updating multiple strings
+    for _ in range(10):
+      can_strings = []
+      log_mono_time = 0
+      for i in range(10):
+        log_mono_time = int(0.01 * i * 1e+9)
+        can_msg = packer.make_can_msg("VSA_STATUS", 0, {})
+        can_strings.append(can_list_to_can_capnp([can_msg], logMonoTime=log_mono_time))
+      parser.update_strings(can_strings)
+
+      ts_nanos = parser.ts_nanos["VSA_STATUS"].values()
+      self.assertEqual(set(ts_nanos), {log_mono_time})
+      ts_nanos = parser.ts_nanos["POWERTRAIN_DATA"].values()
+      self.assertEqual(set(ts_nanos), {0})
+
+  def test_nonexistent_messages(self):
+    # Ensure we don't allow messages not in the DBC
+    existing_messages = ("STEERING_CONTROL", 228, "CAN_FD_MESSAGE", 245)
+
+    for msg in existing_messages:
+      CANParser(TEST_DBC, [(msg, 0)])
+      with self.assertRaises(RuntimeError):
+        new_msg = msg + "1" if isinstance(msg, str) else msg + 1
+        CANParser(TEST_DBC, [(new_msg, 0)])
+
+  def test_track_all_signals(self):
+    parser = CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 0)])
+    self.assertEqual(parser.vl["ACC_CONTROL"], {
+      "ACCEL_CMD": 0,
+      "ALLOW_LONG_PRESS": 0,
+      "ACC_MALFUNCTION": 0,
+      "RADAR_DIRTY": 0,
+      "DISTANCE": 0,
+      "MINI_CAR": 0,
+      "ACC_TYPE": 0,
+      "CANCEL_REQ": 0,
+      "ACC_CUT_IN": 0,
+      "LEAD_VEHICLE_STOPPED": 0,
+      "PERMIT_BRAKING": 0,
+      "RELEASE_STANDSTILL": 0,
+      "ITS_CONNECT_LEAD": 0,
+      "ACCEL_CMD_ALT": 0,
+      "CHECKSUM": 0,
+    })
+
+  def test_disallow_duplicate_messages(self):
+    CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5)])
+
+    with self.assertRaises(RuntimeError):
+      CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5), ("ACC_CONTROL", 10)])
+
+    with self.assertRaises(RuntimeError):
+      CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 10), ("ACC_CONTROL", 10)])
+
+  def test_allow_undefined_msgs(self):
+    # TODO: we should throw an exception for these, but we need good
+    #  discovery tests in openpilot first
+    packer = CANPacker("toyota_nodsu_pt_generated")
+
+    self.assertEqual(packer.make_can_msg("ACC_CONTROL", 0, {"UNKNOWN_SIGNAL": 0}),
+                     [835, 0, b'\x00\x00\x00\x00\x00\x00\x00N', 0])
+    self.assertEqual(packer.make_can_msg("UNKNOWN_MESSAGE", 0, {"UNKNOWN_SIGNAL": 0}),
+                     [0, 0, b'', 0])
+    self.assertEqual(packer.make_can_msg(0, 0, {"UNKNOWN_SIGNAL": 0}),
+                     [0, 0, b'', 0])
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc/can/tests/test_parser_performance.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+import time
+import unittest
+
+from opendbc.can.parser import CANParser
+from opendbc.can.packer import CANPacker
+from opendbc.can.tests.test_packer_parser import can_list_to_can_capnp
+
+
+@unittest.skip("TODO: varies too much between machines")
+class TestParser(unittest.TestCase):
+  def _benchmark(self, checks, thresholds, n):
+    parser = CANParser('toyota_new_mc_pt_generated', checks, 0)
+    packer = CANPacker('toyota_new_mc_pt_generated')
+
+    can_msgs = []
+    for i in range(50000):
+      values = {"ACC_CONTROL": {"ACC_TYPE": 1, "ALLOW_LONG_PRESS": 3}}
+      msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
+      bts = can_list_to_can_capnp(msgs, logMonoTime=int(0.01 * i * 1e9))
+      can_msgs.append(bts)
+
+    ets = []
+    for _ in range(25):
+      if n > 1:
+        strings = []
+        for i in range(0, len(can_msgs), n):
+          strings.append(can_msgs[i:i + n])
+        t1 = time.process_time_ns()
+        for m in strings:
+          parser.update_strings(m)
+        t2 = time.process_time_ns()
+      else:
+        t1 = time.process_time_ns()
+        for m in can_msgs:
+          parser.update_strings([m])
+        t2 = time.process_time_ns()
+
+      ets.append(t2 - t1)
+
+    et = sum(ets) / len(ets)
+    avg_nanos = et / len(can_msgs)
+    print('%s: [%d] %.1fms to parse %s, avg: %dns' % (self._testMethodName, n, et/1e6, len(can_msgs), avg_nanos))
+
+    minn, maxx = thresholds
+    self.assertLess(avg_nanos, maxx)
+    self.assertGreater(avg_nanos, minn, "Performance seems to have improved, update test thresholds.")
+
+  def test_performance_all_signals(self):
+    self._benchmark([('ACC_CONTROL', 10)], (10000, 19000), 1)
+    self._benchmark([('ACC_CONTROL', 10)], (1300, 5000), 10)
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc/ford_lincoln_base_pt.dbc

@@ -1756,6 +1756,14 @@ BO_ 126 SteeringPinion_Data: 8 PSCM
  SG_ StePinAn_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless"  VDM,ABS_ESC,TCCM,GWM
  SG_ StePinAn_No_Cnt : 47|4@0+ (1,0) [0|15] "unitless"  VDM,TCCM,GWM,ABS_ESC
 
+BO_ 133 SteeringPinion_Data_Alt: 8 PSCM
+ SG_ StePw_B_Rq : 23|1@0+ (1,0) [0|1] "SED"  GWM,ECM_Diesel,PCM
+ SG_ StePinRelInit_An_Sns : 7|16@0+ (0.1,-3200) [-3200|3353.3] "degrees"  VDM,IPMA_ADAS,GWM,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM
+ SG_ StePinCompAnEst_D_Qf : 43|2@0+ (1,0) [0|3] "SED"  VDM,CMR_DSMC,IPMA_ADAS,TCM_DSL,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM,GWM
+ SG_ StePinComp_An_Est : 22|15@0+ (0.1,-1600) [-1600|1676.7] "degrees"  VDM,CMR_DSMC,IPMA_ADAS,TCM_DSL,ECM_Diesel,PCM,PCM_HEV,ABS_ESC,TCCM,GWM
+ SG_ StePinAn_No_Cs : 39|8@0+ (1,0) [0|255] "Unitless"  VDM,ABS_ESC,TCCM,GWM
+ SG_ StePinAn_No_Cnt : 47|4@0+ (1,0) [0|15] "unitless"  VDM,TCCM,GWM,ABS_ESC
+
 BO_ 1430 ABS_AutoSar_NetworkMgt: 8 ABS_ESC
  SG_ ABS_GWOnBoardTester : 39|8@0+ (1,0) [0|255] "unitless"  GWM
  SG_ ABS_GWNMProxy : 47|8@0+ (1,0) [0|255] "unitless"  GWM
@@ -3608,6 +3616,9 @@ BO_ 922 DCACA_Data1_FD1: 8 GWM
  SG_ DcacClntFlw_D_Rq : 5|2@0+ (1,0) [0|3] "SED"  SOBDMC_HPCM_FD1
  SG_ CoolFanDcac_D_Rq : 7|2@0+ (1,0) [0|3] "SED"  SOBDMC_HPCM_FD1
 
+BO_ 1082 INSTRUMENT_PANEL: 8 GWM
+ SG_ METRIC_UNITS : 54|1@0+ (1,0) [0|1] "SED"  IPMA,PCM,PCM_HEV
+
 BO_TX_BU_ 2612224016 : ECM_Diesel,PCM,PCM_HEV;
 BO_TX_BU_ 878 : PCM,PCM_HEV;
 BO_TX_BU_ 1085 : ECM_Diesel,PCM;
@@ -3694,6 +3705,9 @@ CM_ SG_ 130 SteMdule_U_Meas "DCR 1745  to update Tx from GWM to EP100ms. SteMdul
 CM_ SG_ 130 SteMdule_I_Est "DCR 1745  to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)";
 CM_ SG_ 126 StePinRelInit_An_Sns "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
 CM_ SG_ 126 StePinAn_No_Cs "Signal not transmitted on gas variants.";
+CM_ BO_ 133 "Seen on Ford Edge MK2";
+CM_ SG_ 133 StePinRelInit_An_Sns "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
+CM_ SG_ 133 StePinAn_No_Cs "Signal not transmitted on gas variants.";
 CM_ SG_ 1200 BrkTot_Tq_RqDrv "DCR 1836 to update Tx from GWM to EP100ms rejected due MPS6 TCM requires BrkTot_Tq_RqDrv at 20ms (bshu1).";
 CM_ SG_ 1046 TCMode "Signal data set to 0x0 for ABS only vehicle option content";
 CM_ SG_ 1046 DrvAntiLckLamp_D_Rq "update value table v8.34, not align w/GSDB, need etracker.  ABS & IPC implemented as updated.";
@@ -4938,6 +4952,11 @@ BA_ "GenMsgSendType" BO_ 126 0;
 BA_ "GenMsgCycleTime" BO_ 126 10;
 BA_ "GenMsgDelayTime" BO_ 126 0;
 BA_ "VFrameFormat" BO_ 126 14;
+BA_ "FrameRouting" BO_ 133 "";
+BA_ "GenMsgSendType" BO_ 133 0;
+BA_ "GenMsgCycleTime" BO_ 133 10;
+BA_ "GenMsgDelayTime" BO_ 133 0;
+BA_ "VFrameFormat" BO_ 133 14;
 BA_ "FrameRouting" BO_ 1430 "";
 BA_ "GenMsgILSupport" BO_ 1430 0;
 BA_ "NmAsrMessage" BO_ 1430 1;
@@ -11578,6 +11597,9 @@ VAL_ 130 SAPPAngleControlStat1 3 "Fault" 2 "Active" 1 "Open" 0 "Closed";
 VAL_ 126 StePw_B_Rq 1 "Yes" 0 "No";
 VAL_ 126 StePinRelInit_An_Sns 65535 "Faulty" 65534 "NoDataExists";
 VAL_ 126 StePinCompAnEst_D_Qf 3 "OK" 2 "Degraded" 1 "No_Data_Exists" 0 "Faulty";
+VAL_ 133 StePw_B_Rq 1 "Yes" 0 "No";
+VAL_ 133 StePinRelInit_An_Sns 65535 "Faulty" 65534 "NoDataExists";
+VAL_ 133 StePinCompAnEst_D_Qf 3 "OK" 2 "Degraded" 1 "No_Data_Exists" 0 "Faulty";
 VAL_ 1200 BrkHold_D_Stat 7 "NotUsed_3" 6 "NotUsed_2" 5 "NotUsed_1" 4 "HeldSecondary" 3 "HeldSecure" 2 "Held" 1 "Inactive" 0 "Off";
 VAL_ 1200 HsaTrnAout_Tq_Rq 65535 "Fault" 65534 "Unknown";
 VAL_ 1200 BrkBstrVac_P_Actl 127 "Invalid";

opendbc/gm_global_a_powertrain_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 NEO
  SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR
@@ -188,6 +188,9 @@ BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
  SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
  SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
 
+BO_ 500 SportMode: 6 XXX
+ SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 501 ECMPRDNL2: 8 K20_ECM
  SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
  SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO

opendbc/honda_civic_ex_2022_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_crv_executive_2016_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR

opendbc/hyundai_canfd.dbc

@@ -263,7 +263,7 @@ BO_ 416 SCC_CONTROL: 32 ADRV
  SG_ aReqValue : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
  SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ACCMode : 68|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_12 : 35|9@1+ (0.1,0) [0|255] "" XXX
+ SG_ ACC_ObjRelSpd : 35|9@1+ (0.1,-16.4) [-16.4|34.7] "m/s" XXX
  SG_ JerkLowerLimit : 166|7@0+ (0.1,0) [0|12.7] "m/s^3" XXX
  SG_ StopReq : 184|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX

opendbc/pyproject.toml

@@ -0,0 +1,20 @@
+[tool.poetry]
+name = "opendbc"
+version = "1.0.0"
+description = "CAN bus databases and tools"
+license = "MIT"
+authors = ["Vehicle Researcher <user@comma.ai>"]
+readme = "README.md"
+repository = "https://github.com/commaai/opendbc"
+
+[tool.cython-lint]
+max-line-length = 120
+ignore = ["E111", "E114"]
+
+# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[tool.ruff]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
+ignore = ["W292", "E741", "E402", "C408", "ISC003"]
+line-length = 160
+target-version="py311"
+flake8-implicit-str-concat.allow-multiline=false

opendbc/requirements.txt

@@ -0,0 +1,8 @@
+ruff
+Cython
+Jinja2
+numpy
+pycapnp
+pyyaml
+scons
+pytest

opendbc/site_scons/site_tools/cython.py

@@ -0,0 +1,72 @@
+import re
+import SCons
+from SCons.Action import Action
+from SCons.Scanner import Scanner
+
+pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
+pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
+cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
+
+
+def pyx_scan(node, env, path, arg=None):
+  contents = node.get_text_contents()
+
+  # from <module> cimport ...
+  matches = pyx_from_import_re.findall(contents)
+  # cimport <module>
+  matches += pyx_import_re.findall(contents)
+
+  # Modules can be either .pxd or .pyx files
+  files = [m.replace('.', '/') + '.pxd' for m in matches]
+  files += [m.replace('.', '/') + '.pyx' for m in matches]
+
+  # cdef extern from <file>
+  files += cdef_import_re.findall(contents)
+
+  # Handle relative imports
+  cur_dir = str(node.get_dir())
+  files = [cur_dir + f if f.startswith('/') else f for f in files]
+
+  # Filter out non-existing files (probably system imports)
+  files = [f for f in files if env.File(f).exists()]
+  return env.File(files)
+
+
+pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
+cythonAction = Action("$CYTHONCOM")
+
+
+def create_builder(env):
+  try:
+    cython = env['BUILDERS']['Cython']
+  except KeyError:
+    cython = SCons.Builder.Builder(
+      action=cythonAction,
+      emitter={},
+      suffix=cython_suffix_emitter,
+      single_source=1
+    )
+    env.Append(SCANNERS=pyxscanner)
+    env['BUILDERS']['Cython'] = cython
+  return cython
+
+def cython_suffix_emitter(env, source):
+  return "$CYTHONCFILESUFFIX"
+
+def generate(env):
+  env["CYTHON"] = "cythonize"
+  env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
+  env["CYTHONCFILESUFFIX"] = ".cpp"
+
+  c_file, _ = SCons.Tool.createCFileBuilders(env)
+
+  c_file.suffix['.pyx'] = cython_suffix_emitter
+  c_file.add_action('.pyx', cythonAction)
+
+  c_file.suffix['.py'] = cython_suffix_emitter
+  c_file.add_action('.py', cythonAction)
+
+  create_builder(env)
+
+def exists(env):
+  return True

opendbc/tesla_can.dbc

@@ -131,6 +131,19 @@ BO_ 880 EPAS_sysStatus: 8 EPAS
  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_ 305 EPAS3P_sysStatus: 8 NEO
+ SG_ EPAS_currentTuneMode : 7|4@0+ (1,0) [0|0] "" NEO
+ SG_ EPAS_eacErrorCode : 23|4@0+ (1,0) [0|15] "" NEO
+ SG_ EPAS_eacStatus : 55|3@0+ (1,0) [0|7] "" NEO
+ SG_ EPAS_handsOnLevel : 39|2@0+ (1,0) [0|3] "" NEO
+ SG_ EPAS_internalSAS : 37|14@0+ (0.1,-819.2) [-819.2|819] "deg" NEO
+ SG_ EPAS_steeringFault : 2|1@0+ (1,0) [0|1] "" NEO
+ SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [-25575|25575] "N" NEO
+ SG_ EPAS_steeringReduced : 3|1@0+ (1,0) [0|1] "" 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) [-20.5|20.45] "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
@@ -708,6 +721,10 @@ BO_ 1001 DAS_bodyControls: 8 XXX
  SG_ DAS_bodyControlsCounter : 52|4@1+ (1,0) [0|15] "" XXX
  SG_ DAS_bodyControlsChecksum : 56|8@1+ (1,0) [0|255] "" XXX
 
+BO_ 780 DriverSeat: 8 XXX
+ SG_ occupancyStatus : 16|3@1+ (1,0) [0|7] "" XXX
+ SG_ buckleStatus : 19|2@1+ (1,0) [0|3] "" 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" ;
@@ -802,6 +819,8 @@ VAL_ 697 DAS_jerkMin 511 "SNA" ;
 VAL_ 697 DAS_jerkMax 255 "SNA" ;
 VAL_ 697 DAS_accelMin 511 "SNA" ;
 VAL_ 697 DAS_accelMax 511 "SNA" ;
+VAL_ 780 occupancyStatus 1 "OCCUPIED" 0 "UNOCCUPIED" ;
+VAL_ 780 buckleStatus 1 "LATCHED" 0 "UNLATCHED" ;
 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" ;

opendbc/toyota_new_mc_pt_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
  SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
@@ -37,10 +37,13 @@ CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor th
 
 BO_ 767 SDSU: 8 XXX
  SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX
 
-CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu";
 CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
 
+VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
 
 CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
@@ -202,6 +205,7 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_VEHICLE_STOPPED : 29|1@0+ (1,0) [0|0] "" DSU
  SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX
@@ -450,6 +454,7 @@ CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
 CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
 CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1";
 CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect";
+CM_ SG_ 835 LEAD_VEHICLE_STOPPED "Set to 1 when lead is stopped, likely only used in older TSS-P vehicles";
 CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
 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.";
@@ -520,6 +525,7 @@ VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
 VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 921 DISTANCE_LINES 0 "not displayed" 1 "close" 2 "medium" 3 "far";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";

opendbc/toyota_nodsu_pt_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
  SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
@@ -37,10 +37,13 @@ CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor th
 
 BO_ 767 SDSU: 8 XXX
  SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX
 
-CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu";
 CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
 
+VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
 
 CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
@@ -202,6 +205,7 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_VEHICLE_STOPPED : 29|1@0+ (1,0) [0|0] "" DSU
  SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX
@@ -450,6 +454,7 @@ CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
 CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
 CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1";
 CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect";
+CM_ SG_ 835 LEAD_VEHICLE_STOPPED "Set to 1 when lead is stopped, likely only used in older TSS-P vehicles";
 CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
 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.";
@@ -520,6 +525,7 @@ VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
 VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 921 DISTANCE_LINES 0 "not displayed" 1 "close" 2 "medium" 3 "far";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";

opendbc/toyota_tnga_k_pt_generated.dbc

@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";
 
 
-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
  SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
  SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
@@ -37,10 +37,13 @@ CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor th
 
 BO_ 767 SDSU: 8 XXX
  SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX
 
-CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu";
 CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
 
+VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
 
 CM_ "Imported file _toyota_2017.dbc starts here";
 VERSION ""
@@ -202,6 +205,7 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_VEHICLE_STOPPED : 29|1@0+ (1,0) [0|0] "" DSU
  SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
  SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX
@@ -450,6 +454,7 @@ CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
 CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
 CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1";
 CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect";
+CM_ SG_ 835 LEAD_VEHICLE_STOPPED "Set to 1 when lead is stopped, likely only used in older TSS-P vehicles";
 CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
 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.";
@@ -520,6 +525,7 @@ VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
 VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
 VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 921 DISTANCE_LINES 0 "not displayed" 1 "close" 2 "medium" 3 "far";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";

opendbc/vw_mqb_2010.dbc

@@ -91,6 +91,7 @@ BO_ 679 ACC_13: 8 XXX
  SG_ ACC_Tachokranz : 58|1@1+ (1,0) [0|1] ""  XXX
  SG_ ACC_Typ_Tachokranz_unten : 59|1@1+ (1,0) [0|1] ""  XXX
  SG_ ACC_ENG_Texte : 60|2@1+ (1,0) [0|3] ""  XXX
+ SG_ ACC_ADAPTIVE : 63|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 681 ACC_15: 8 XXX
  SG_ AWV_Warnung : 16|3@1+ (1,0) [0|7] ""  XXX
@@ -1144,19 +1145,43 @@ BO_ 288 TSK_06: 8 Motor_Diesel_MQB
  SG_ TSK_Status : 24|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_v_Begrenzung_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_Standby_Anf_ESP : 28|1@1+ (1,0) [0|1] "" Gateway_MQB
+ SG_ TSK_Freig_WU : 29|1@1+ (1.0,0.0) [0.0|1] ""  Gateway_MQB
  SG_ TSK_Freig_Verzoeg_Anf : 30|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_Limiter_ausgewaehlt : 31|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ TSK_Wunsch_Uebersetz : 32|10@1+ (0.0245,0) [0.0245|25.0635] ""  Gateway_MQB
+ SG_ TSK_Hauptschalter_GRA_ACC : 42|2@1+ (1.0,0.0) [0.0|3] ""  Gateway_MQB
+ SG_ TSK_SRBM_Anf_ASIL : 44|3@1+ (1.0,0.0) [0.0|7] ""  Gateway_MQB
  SG_ TSK_ax_Getriebe_02 : 48|9@1+ (0.024,-2.016) [-2.016|10.224] "Unit_MeterPerSeconSquar" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_Zwangszusch_ESP : 57|1@1+ (1,0) [0|1] "" Gateway_MQB
  SG_ TSK_zul_Regelabw : 58|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 
 BO_ 798 TSK_07: 8 Motor_Diesel_MQB
- SG_ TSK_07_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB
- SG_ TSK_07_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB
- SG_ TSK_Wunschgeschw : 12|10@1+ (0.32,0) [0|326.72] "Unit_KiloMeterPerHour" Gateway_MQB
- SG_ TSK_Texte_Primaeranz : 48|5@1+ (1,0) [0|31] "" Gateway_MQB
- SG_ TSK_Limiter_Anzeige : 55|1@1+ (1,0) [0|1] "" Gateway_MQB
- SG_ TSK_Status_Anzeige : 61|3@1+ (1,0) [0|7] "" Gateway_MQB
+ SG_ TSK_07_CRC : 0|8@1+ (1,0) [0|255] ""  Gateway_MQB,Getriebe_AQ
+ SG_ TSK_07_BZ : 8|4@1+ (1,0) [0|15] ""  Gateway_MQB,Getriebe_AQ
+ SG_ TSK_Wunschgeschw : 12|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour"  Gateway_MQB,Getriebe_AQ
+ SG_ TSK_Texte : 40|5@1+ (1.0,0.0) [0.0|31] ""  Gateway_MQB
+ SG_ TSK_Akustik : 45|3@1+ (1.0,0.0) [0.0|7] ""  Gateway_MQB
+ SG_ TSK_Texte_Primaeranz : 48|5@1+ (1.0,0.0) [0.0|31] ""  Gateway_MQB
+ SG_ TSK_Limiter_Fahrerinfo : 53|2@1+ (1.0,0.0) [0.0|3] ""  Gateway_MQB
+ SG_ TSK_Limiter_Anzeige : 55|1@1+ (1.0,0.0) [0.0|1] ""  Gateway_MQB
+ SG_ TSK_Fahrzeugstatus_GRA : 56|1@1+ (1.0,0.0) [0.0|1] ""  Gateway_MQB
+ SG_ TSK_Fahrzeugstatus_Limiter : 57|1@1+ (1.0,0.0) [0.0|1] ""  Gateway_MQB
+ SG_ MO_Motorlaufwarnung : 58|1@1+ (1.0,0.0) [0.0|1] ""  Gateway_MQB
+ SG_ TSK_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] ""  Gateway_MQB
+
+BO_ 346 TSK_08: 8 Motor_Diesel_MQB
+ SG_ TSK_08_CRC : 0|8@1+ (1,0) [0|255] ""  Frontradar
+ SG_ TSK_08_BZ : 8|4@1+ (1,0) [0|15] ""  Frontradar
+ SG_ MO_Anforderung_HMS : 12|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ TSK_Status_EA : 32|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ TSK_vMax_Fahrerassistenz : 40|9@1+ (1,0) [0|510] ""  Frontradar
+ SG_ TSK_Einheit_vMax_Fahrerassistenz : 49|1@1+ (1,0) [0|1] ""  Frontradar
+ SG_ TSK_Status_PLA : 50|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ TSK_aktives_System : 53|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ TSK_erhoehter_Fahrwiderstand : 56|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ TSK_Anf_Antriebsmoment : 57|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ TSK_Status_ARA : 58|3@1+ (1,0) [0|7] "" Vector__XXX
+ SG_ TSK_Status_IPA : 61|3@1+ (1,0) [0|7] "" Vector__XXX
 
 BO_ 1716 VIN_01: 8 Gateway_MQB
  SG_ VIN_01_MUX M : 0|2@1+ (1,0) [0|3] ""  Airbag_MQB
@@ -1459,6 +1484,7 @@ CM_ SG_ 780 SetAbstand "Set following distance";
 CM_ SG_ 780 Abstand "Following distance";
 CM_ SG_ 780 SetSpeed "ACC set speed";
 CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode mapped to Drive";
+CM_ SG_ 679 ACC_ADAPTIVE "TSK_06.TSK_Limiter_ausgewaehlt seems to take precedence";
 CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on";
 CM_ SG_ 1720 KBI_BCmE_aktiv "Anzeige BCmE aktiv (BCmE-Screen oder Einsparhinweis in der Anzeige)";
 CM_ SG_ 1720 KBI_Max_Tankinhalt "Mitteilung des maximalen Tankinhalts an das Reichweitenmodul";
@@ -1477,9 +1503,18 @@ CM_ SG_ 1720 KBI_Variante "Zeigt an ob es sich um ein konventionelles Zeiger-Kom
 CM_ SG_ 1720 KBI_Variante_USA "In diesem Signal wird die HW-Variante des Kombis ausgegeben, ACC plausibilisiert auf dieses Signal hin seine US-Codierung";
 
 
-VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" ;
+VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" 8 "preempted" ;
 VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 13 "T" 14 "T" ;
 VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault" ;
+VAL_ 288 TSK_v_Begrenzung_aktiv 0 "inaktiv" 1 "aktiv" ;
+VAL_ 288 TSK_Standby_Anf_ESP 0 "keine_Standby_Anforderung" 1 "Standby_Anforderung" ;
+VAL_ 288 TSK_Freig_WU 0 "TSK_Uebersetzungswunsch_nicht_freigegeben" 1 "TSK_Uebersetzungswunsch_freigegeben" ;
+VAL_ 288 TSK_Freig_Verzoeg_Anf 0 "Verzoegerungsanforderung_nicht_freigegeben" 1 "Verzoegerungsanforderung_freigegeben" ;
+VAL_ 288 TSK_Limiter_ausgewaehlt 0 "kein_Limiter_ausgewaehlt" 1 "Limiter_ausgewaehlt" ;
+VAL_ 288 TSK_Wunsch_Uebersetz 0 "Init" ;
+VAL_ 288 TSK_Hauptschalter_GRA_ACC 0 "Init" 1 "Aus" 2 "Ein" 3 "Fehler" ;
+VAL_ 288 TSK_ax_Getriebe_02 511 "Neutralwert" ;
+VAL_ 288 TSK_Zwangszusch_ESP 0 "keine_ESP_ASR_Beeinflussung" 1 "ESP_ASR_Beeinflussung" ;
 VAL_ 294 EA_ACC_Sollstatus 0 "Init" 1 "ACC_aktivieren" 2 "ACC_deaktivieren" ;
 VAL_ 294 EA_Ruckprofil 0 "Init" 1 "Profil_1" 2 "Profil_2" 3 "Profil_3" 4 "Profil_4" 5 "Profil_5" 6 "Profil_6" 7 "Profil_7" ;
 VAL_ 294 HCA_01_Sendestatus 0 "HCA_sendet_mit_1000ms" 1 "HCA_sendet_mit_20ms" ;
@@ -1487,6 +1522,26 @@ VAL_ 294 HCA_01_LM_OffSign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen" ;
 VAL_ 294 HCA_01_Status_HCA 0 "deaktiviert" 1 "reserviert" 2 "reserviert" 3 "funktionsbereit" 4 "reserviert" 5 "HCA_Momenteneingriff_1" 6 "MA_Aktiv" 7 "HCA_Momenteneingriff_2" 8 "reserviert" 9 "reserviert" 10 "reserviert" 11 "reserviert" 12 "reserviert" 13 "reserviert" 14 "reserviert" 15 "reserviert" ;
 VAL_ 294 EA_Ruckfreigabe 0 "keine_Freigabe" 1 "Freigabe" ;
 VAL_ 294 EA_ACC_Wunschgeschwindigkeit 1023 "Init" ;
+VAL_ 346 MO_Anforderung_HMS 0 "keine_Anforderung" 1 "halten" 2 "parken" 3 "halten_Standby" 4 "anfahren" 5 "Loesen_ueber_Rampe" ;
+VAL_ 346 TSK_Status_EA 0 "Aus" 1 "Init_oder_nicht_verbaut" 3 "Aktiv" 4 "Uebertreten" 5 "Abschaltung_laeuft" 6 "Reversibel_aus" 7 "Irreversibel_Aus" ;
+VAL_ 346 TSK_vMax_Fahrerassistenz 511 "Init_ungueltig_keine_Beschraenkung" ;
+VAL_ 346 TSK_Einheit_vMax_Fahrerassistenz 0 "kmh" 1 "mph" ;
+VAL_ 346 TSK_Status_PLA 0 "Aus_Funktionsbereit" 1 "Init_oder_nicht_verbaut" 2 "aktivierbar" 3 "aktiv" 5 "Abschaltung_laeuft" 6 "reversibel_aus" 7 "Fehler" ;
+VAL_ 346 TSK_aktives_System 0 "keine_Funktion_aktiv" 1 "GRA_ACC" 2 "ARA" 3 "Speedlimiter" 4 "IPA" 5 "PLA" 6 "PEA_Ausrollassistent" 7 "EA" ;
+VAL_ 346 TSK_erhoehter_Fahrwiderstand 0 "kein_erhoehter_Fahrwiderstand" 1 "erhoehter_Fahrwiderstand" ;
+VAL_ 346 TSK_Anf_Antriebsmoment 0 "keine_Anforderung" 1 "Anforderung_aktiv" ;
+VAL_ 346 TSK_Status_ARA 0 "Aus" 1 "Init_oder_nicht_verbaut" 2 "aktivierbar" 3 "aktiv" 5 "abschaltung_laeuft" 6 "reversibel_aus" 7 "Fehler" ;
+VAL_ 346 TSK_Status_IPA 0 "Aus_Funktionsbereit" 1 "Init_oder_nicht_verbaut" 2 "aktivierbar" 3 "aktiv" 5 "Abschaltung_laueft" 6 "reversibel_aus" 7 "Fehler" ;
+VAL_ 798 TSK_Wunschgeschw 1022 "keine_Anzeige" 1023 "kein_Wert_im_Speicher" ;
+VAL_ 798 TSK_Texte 0 "kein_Text" 1 "GRA_Modus_ausgewaehlt" 2 "ACC_Modus_ausgewaehlt" 3 "Lim_Modus_ausgewaehlt" 4 "Lim_nicht_verfuegbar_ESC_passiv" 5 "GRA_nicht_verfuegbar_ESC_passiv" 6 "Lim_nicht_verfuegbar_Charisma" 7 "GRA_nicht_verfuegbar_Charisma" 8 "Lim_nicht_verfuegbar_HDC" 9 "GRA_nicht_verfuegbar_HDC" ;
+VAL_ 798 TSK_Akustik 0 "keine_Akustik" 1 "einzelner_Warnton" 2 "dauerhafter_Warnton" ;
+VAL_ 798 TSK_Texte_Primaeranz 0 "keine_Anzeige" 1 "GRA_Symbol_passiv_xxx_kmh_mph" 2 "GRA_Symbol_aktiv_xxx_kmh_mph" 3 "Bremse_ueberhitzt" 4 "Limiter_Modus_aktiviert" 5 "GRA_Modus_aktiviert" 6 "ACC_Modus_aktiviert" 7 "Opt_Geschwindigkeitswarnung" 8 "Opt_und_akustische_GeschwWarnung" 9 "Opt_GeschwWarnung_dauerhaft_mit_einmal_Akustik" 10 "Limiter_passiv_mit_Akustik" 11 "Limiter_Fehler_mit_Akustik" 12 "Limiter_Symbol_passiv_xxx_kmh_mph" 13 "Limiter_Symbol_aktiv_xxx_kmh_mph" 14 "Popup_Geschw_zu_hoch__Resume_unzulaessig" ;
+VAL_ 798 TSK_Limiter_Fahrerinfo 0 "keine_Info" 1 "Limit_erreicht" 2 "Ueberschritten" 3 "Vom_Fahrer_Ueberstimmt" ;
+VAL_ 798 TSK_Limiter_Anzeige 0 "Display_Anzeige_GRA_ACC" 1 "Display_Anzeige_Limiter" ;
+VAL_ 798 TSK_Fahrzeugstatus_GRA 0 "GRA_verfuegbar" 1 "GRA_nicht_verfuegbar" ;
+VAL_ 798 TSK_Fahrzeugstatus_Limiter 0 "Limiter_verfuegbar" 1 "Limiter_nicht_verfuegbar" ;
+VAL_ 798 MO_Motorlaufwarnung 0 "keine_Anzeige" 1 "Anforderung_Motorlaufwarnung" ;
+VAL_ 798 TSK_Status_Anzeige 0 "Hauptschalter_aus" 1 "Init" 2 "passiv" 3 "aktiv" 4 "Uebertreten" 5 "Limitiierung_aktiv" 6 "reversibel_aus" 7 "irreversibel_aus" ;
 VAL_ 780 ACC_Wunschgeschw_02 1023 "keine_Anzeige" ;
 VAL_ 780 ACC_Status_Prim_Anz 0 "Symbol nicht beleuchtet" 1 "Farbe 1 (typisch 'gruen')" 2 "Farbe 2 (typisch 'rot')" 3 "Farbe 3 (typisch 'gelb')" ;
 VAL_ 780 ACC_Abstandsindex 0 "Sonderanzeige_graue_Fahrbahn" 1022 "Sonderanzeige_graue_Fahrbahn" 1023 "Sonderanzeige_Fahrbahn_mit_gruenem_roten_Bereich" ;
@@ -1559,6 +1614,7 @@ VAL_ 679 ACC_RUV 0 "keine_Anzeige" 1 "RUV_aktiv_Rechtsverkehr" 2 "RUV_aktiv_Link
 VAL_ 679 ACC_Tachokranz 0 "Tachokranz_nicht_beleuchtet" 1 "Tachokranz_beleuchtet" ;
 VAL_ 679 ACC_Typ_Tachokranz_unten 0 "LEDs_an" 1 "LEDs_aus" ;
 VAL_ 679 ACC_ENG_Texte 0 "keine_Anzeige" 1 "keine_Laenderverfuegbarkeit" 2 "nicht_verfuegbar" 3 "Geschwindigkeitsgrenze" ;
+VAL_ 679 ACC_ADAPTIVE 1 "adaptive" 2 "non-adaptive" ;
 VAL_ 681 AWV_Warnung 0 "keine_Anzeige" 1 "latente_Vorwarnung" 2 "Vorwarnung" 3 "Akutwarnung" 4 "Eingriff" 5 "Fahreruebernahmeaufforderung" 6 "Abbiegewarnung" ;
 VAL_ 681 AWV_Texte 0 "keine_Anzeige" 1 "Systemstoerung" 2 "keine_Sensorsicht" 3 "Demomodus" 4 "System_aus" 5 "nicht_definiert" 6 "ESC_aus" 7 "zurzeit_eingeschraenkt" ;
 VAL_ 681 AWV_Status_Anzeige 0 "Init" 1 "verfuegbar" 2 "nicht_verfuegbar" ;