Merge branch 'devel-unsupported-cars' into devel-en

Revert "Move Max's FP to TSS RAV4H instead of TSS2 variant"
This reverts commit 236a05f2ad.
2026-06-13 05:04:40 +08:00 · 2019-10-09 14:46:13 +10:00 · 2019-10-09 14:45:13 +10:00 · 2019-10-09 14:43:24 +10:00 · 2019-10-08 14:43:12 +10:00 · 2019-10-08 10:49:49 +10:00
284 changed files with 13490 additions and 4247 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -39,5 +39,6 @@ selfdrive/sensord/sensord

 one
 openpilot
+notebooks
 xx

--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -39,9 +39,9 @@ RUN cd /tmp && pipenv install --deploy --system

 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH

-RUN git clone --branch v0.6  https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+RUN git clone --branch v0.6.2 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
 RUN pip install -r /tmp/openpilot/tools/requirements.txt
-RUN pip install fastcluster==1.1.20 scipy==0.19.1
+RUN pip install fastcluster==1.1.20 scipy==0.19.1 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0

 COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
--- a/2
+++ b/2
@@ -99,6 +99,8 @@ simplejson = "*"
 python-logstash-async = "*"
 pandas = "*"
 seaborn = "*"
+tensorflow-estimator = "==1.10.12"
+pyproj = "*"

 [packages]
 overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
    "_meta": {
        "hash": {
-            "sha256": "89070d7d9478ac9e6ad2c9848aaf724cb7362a1de4af9f8fb8c40be5f37c043d"
+            "sha256": "43f96719ff9a1b7eae6c7a88f903c4f5a137c2b195e3ba148f32767827b98710"
        },
        "pipfile-spec": 6,
        "requires": {
@@ -656,12 +656,12 @@
        },
        "aenum": {
            "hashes": [
-                "sha256:058f0cfaf911899dc21b334362047df74ce989335dd8dff8e4be1a6313b15232",
-                "sha256:6af970173d9b4ac0384ad7d1cfe9523eeb9a3578793e1664090c13cb59df6469",
-                "sha256:80f14366578d84f6bccb0670259744cb3a7f2ab504480c306238a23cdd569457"
+                "sha256:0e3589654ef090784971f7778dcb74b08c9b4ef80b33267c00f82ddeedac179a",
+                "sha256:b12a7be3d89b270f266f8643aaa126404e5cdc0929bd6f09548b8eaed85e2aa1",
+                "sha256:e4dab068cbe00295bbc3660cd562221b008687d0f7a4c40fc2dd7a80002126a7"
            ],
            "index": "pypi",
-            "version": "==2.2.0"
+            "version": "==2.2.1"
        },
        "amqp": {
            "hashes": [
@@ -817,18 +817,18 @@
        },
        "boto3": {
            "hashes": [
-                "sha256:34a8ddb7247316be6ea94c7eeee41212312d250d99bf668fcd6748629b578622",
-                "sha256:71f3554cc69fa20be06cf20d6c9e0d8095d7c40695b48618676c3cd9a5ba0783"
+                "sha256:6a950bf98b22812896ea0f833a26d448acfdf43179f41f389d501af7a9fae328",
+                "sha256:cfbc062a76a7781af8e6a4ea26ebcafa3866872a8cceb05fdbf588c36e7848f0"
            ],
            "index": "pypi",
-            "version": "==1.9.189"
+            "version": "==1.9.195"
        },
        "botocore": {
            "hashes": [
-                "sha256:4febbf206d1dc8b8299aa211d8e382d5bf3f22097855b9f98d5e8c401ef8192b",
-                "sha256:b62ab3e4e98e075fc9e8e8fd4e8f5b92ebf311a6dc9f7578650938c7bc94e592"
+                "sha256:691627c2aeff0fcbd9237985717c28404a628181fd3e86b7be500bf2ee156007",
+                "sha256:c59e9981db9dfc54f0d22f731ca8de904760049a9c60d86dcedde84ae64ef4f0"
            ],
-            "version": "==1.12.189"
+            "version": "==1.12.195"
        },
        "celery": {
            "hashes": [
@@ -1734,7 +1734,7 @@
                "sha256:23953d55076df038541e648a53676fb24980f7a1be290cdda21300b3bc21dfb0",
                "sha256:552a91f381532e33cbd07c6a2655a21908088962bb8fa7239ecbcc6ad1140cc7"
            ],
-            "markers": "python_version == '2.7'",
+            "markers": "python_version == '2.6' or python_version == '2.7' or python_version == '3.0' or python_version == '3.1' or python_version == '3.2'",
            "version": "==1.5"
        },
        "mpld3": {
@@ -2264,6 +2264,32 @@
            "index": "pypi",
            "version": "==0.1.17"
        },
+        "pyproj": {
+            "hashes": [
+                "sha256:1303b343a1c4d83d1ac17494571d958335c0a4597d4aa623cd64df1f36fb18bf",
+                "sha256:1fd2f756f43ba762f5a1ae769c6cc9ae6f919996bf80c621f331e4a5d89ae74f",
+                "sha256:2b3f59b16cde23c0d95b1d9ba3dd1c0be3937d877df3b47a522d3c9a74d31668",
+                "sha256:2e5d8b892782db22c3d6ffcb272c8ac0a18995e22d45db762a893ec64cc039d6",
+                "sha256:512a59bc20587f88df78a69872ed8cb4ec7905415ba85b4de0af35601770fba1",
+                "sha256:5aa89b04855e439e2b96caf1f49fa2ab60e6e7c407034284d31d808abed0618a",
+                "sha256:75b4c5eba36060a00867e16e81755a44e93a95b0bbaa4d6ee40f10c330b62108",
+                "sha256:860fde3429f364767c88a8e7f14f330e3fdace9f438e0ef1b112108a44c1eee8",
+                "sha256:86886f21af819553990f0da9ad7737d52cd32076dd277db34e40cf805919e839",
+                "sha256:9417d46f2b5e6ba79bd6adea0aae9659501c8a0350a5a98c0d9cb1442d45b0b4",
+                "sha256:9bb81141715832bb8682dda3c2f8f1ad0f43cf8aec5db52e0992c16c7664e227",
+                "sha256:afe150d8f0b351df7a357cfce50a8a5c0a44bdfeec5e08075f873cfeddf63004",
+                "sha256:cc2e21c09245c3eb47014c3d4c58888cc8d48a168a03533f9ed3f8b2ee82a352",
+                "sha256:cefb4a1a5d51cd04c9dd31bb18047c2dafcb86bc33a0347746b5a0ef82c071d8",
+                "sha256:cfa2cd0ee23bcfc9f165b4f8e9c5b7ba829c7b49175fb73420544619148d91af",
+                "sha256:d3a78ce50e6c50e701d65929dc04ab751edaeae660455a9fef3c2231d609f8c1",
+                "sha256:d772ee53c8d316de1b7f68244ab654f864553bca177357f8787a65dc09816ae3",
+                "sha256:ddd99d6f2c813e44721c22039ddf333e4b95e8d0794b03d9962c94c01c823934",
+                "sha256:ec89e68a0cf210af0cc2724b5f8601d4b6809ff0f556e16efc8c955e79672f7a",
+                "sha256:f118762ed0abe8e988a20020241fe1e6133edb960d2665a44d6f48acc6d8e7c7"
+            ],
+            "index": "pypi",
+            "version": "==2.2.1"
+        },
        "pyrsistent": {
            "hashes": [
                "sha256:50cffebc87ca91b9d4be2dcc2e479272bcb466b5a0487b6c271f7ddea6917e14"
@@ -2424,10 +2450,10 @@
        },
        "qtconsole": {
            "hashes": [
-                "sha256:4af84facdd6f00a6b9b2927255f717bb23ae4b7a20ba1d9ef0a5a5a8dbe01ae2",
-                "sha256:60d61d93f7d67ba2b265c6d599d413ffec21202fec999a952f658ff3a73d252b"
+                "sha256:6a85456af7a98b0f554d140922b7b6a219757b039adb2b95e847cf115eaa20ae",
+                "sha256:767eb9ec3f9943bc84270198b5ff95d2d86d68d6b57792fafa4df4fc6b16cd7c"
            ],
-            "version": "==4.5.1"
+            "version": "==4.5.2"
        },
        "redis": {
            "hashes": [
@@ -2685,9 +2711,10 @@
        },
        "tensorflow-estimator": {
            "hashes": [
-                "sha256:ca073f66063407a091d610ec1b22e39ea30248710198cc6f13769320bdbe3992"
+                "sha256:3e460f43682c7d789e5fe966630029558434d32502e632ee7f6703451258528c"
            ],
-            "version": "==1.14.0"
+            "index": "pypi",
+            "version": "==1.10.12"
        },
        "tensorflow-gpu": {
            "hashes": [
--- a/README.md
+++ b/README.md
@@ -58,64 +58,71 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
 Supported Cars
 ------

-| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2016-18              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chrysler             | Pacifica 2017-18         | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Chrysler             | Pacifica Hybrid 2019     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
-| GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
-| Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
-| Honda                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
-| Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | CR-V 2017-19             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | CR-V Hybrid 2017-2019    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Odyssey 2018-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
-| Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Pilot 2016-18            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Honda                | Pilot 2019               | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Ridgeline 2017-19        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
-| Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Hyundai              | Elantra 2017-19          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
-| Jeep                 | Grand Cherokee 2016-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
-| Jeep                 | Grand Cherokee 2019      | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
-| Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
-| Lexus                | ES Hybrid 2019           | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Lexus                | RX Hybrid 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Subaru               | Crosstrek 2018           | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Subaru               | Impreza 2019             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Avalon 2017-18           | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Camry 2018-19            | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-19             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander 2017-19       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Prius Prime 2017-19      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Sienna 2018              | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Make                 | Model (US Market Reference)| Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| ---------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Acura                | ILX 2016-18                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2016-18                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Buick<sup>3</sup>    | Regal 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Malibu 2017                | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Volt 2017-18               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Cadillac<sup>3</sup> | ATS 2018                   | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chrysler             | Pacifica 2017-18           | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2017-18    | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2019       | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| GMC<sup>3</sup>      | Acadia Denali 2018         | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Holden<sup>3</sup>   | Astra 2017                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Honda                | Accord 2018-19             | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Accord Hybrid 2018-19      | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Civic Sedan/Coupe 2016-18  | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
+| Honda                | Civic Sedan/Coupe 2019     | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
+| Honda                | Civic Hatchback 2017-19    | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V 2015-16               | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | CR-V 2017-19               | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V Hybrid 2017-2019      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Fit 2018-19                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Odyssey 2018-19            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | Passport 2019              | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Pilot 2016-18              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | Pilot 2019                 | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Ridgeline 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Hyundai              | Santa Fe 2019              | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Hyundai              | Elantra 2017-19            | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Genesis 2018               | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Jeep                 | Grand Cherokee 2016-18     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Jeep                 | Grand Cherokee 2019        | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| Kia                  | Optima 2019                | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Sorento 2018               | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Stinger 2018               | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Lexus                | ES Hybrid 2019             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Lexus                | RX Hybrid 2016-19          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Lexus                | IS 2017-2019               | All                  | Yes     | Stock          | 22mph            | 0mph           | Toyota            |
+| Lexus                | IS Hybrid 2017             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Subaru               | Crosstrek 2018             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Subaru               | Impreza 2019               | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
+| Toyota               | Avalon 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Avalon 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Camry 2018-19              | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | Camry Hybrid 2018-19       | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-19               | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | C-HR Hybrid 2017-19        | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Corolla 2020               | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla Hatchback 2019     | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander 2017-19         | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander Hybrid 2017-19  | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2016                 | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2017-19              | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius Prime 2017-20        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 2016                  | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18               | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2019                  | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2016           | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2017-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Sienna 2018                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |

 <sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
-<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). <br />
-<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
 <sup>4</sup>Subaru Giraffe is DIY. <br />
 <sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
@@ -126,10 +133,8 @@ Community Maintained Cars

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

-[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
 [[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
 <sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />

@@ -138,10 +143,10 @@ Community Maintained Cars are not confirmed by comma.ai to meet our [safety mode
 In Progress Cars
 ------
 - All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
-  - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
 - All Hyundai with SmartSense.
 - All Kia with SCC and LKAS.
 - All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
+- All Subaru with EyeSight.

 How can I add support for my car?
 ------
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,36 @@
+Version 0.6.4 (2019-09-08)
+========================
+ * Forward stock AEB for Honda Nidec
+ * Improve lane centering on banked roads
+ * Always-on forward collision warning
+ * Always-on driver monitoring, except for right hand drive countries
+ * Driver monitoring learns the user's normal driving position
+ * Honda Fit support thanks to energee!
+ * Lexus IS support
+
+Version 0.6.3 (2019-08-12)
+========================
+ * Alert sounds from EON: requires NEOS update
+ * Improve driver monitoring: eye tracking and improved awareness logic
+ * Improve path prediction with new driving model
+ * Improve lane positioning with wide lanes and exits
+ * Improve lateral control on RAV4
+ * Slow down for turns using model
+ * Open sourced regression test to verify outputs against reference logs
+ * Open sourced regression test to sanity check all car models
+
+Version 0.6.2 (2019-07-29)
+========================
+ * New driving model!
+ * Improve lane tracking with double lines
+ * Strongly improve stationary vehicle detection
+ * Strongly reduce cases of braking due to false leads
+ * Better lead tracking around turns
+ * Improve cut-in prediction by using neural network
+ * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
+ * Fix unintended openpilot disengagements on Jeep thanks to adhintz!
+ * Fix delayed transition to offroad when car is turned off
+
 Version 0.6.1 (2019-07-21)
 ========================
 * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
--- a/apk/ai.comma.plus.frame.apk
+++ b/apk/ai.comma.plus.frame.apk
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/apk/cn.dragonpilot.gpsservice.apk
+++ b/apk/cn.dragonpilot.gpsservice.apk
--- a/apk/com.autonavi.amapauto.apk
+++ b/apk/com.autonavi.amapauto.apk
--- a/apk/com.mixplorer.apk
+++ b/apk/com.mixplorer.apk
--- a/apk/com.tomtom.speedcams.android.map.apk
+++ b/apk/com.tomtom.speedcams.android.map.apk
--- a/BIN
+++ b/BIN
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -78,8 +78,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    commIssue @53;
    tooDistracted @54;
    posenetInvalid @55;
-    manualSteeringRequired @56;
-    manualSteeringRequiredBlinkersOn @57;
+    soundsUnavailable @56;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
+    manualSteeringRequired @60;
+    manualSteeringRequiredBlinkersOn @61;
  }
 }

@@ -111,6 +115,7 @@ struct CarState {
  steeringAngle @7 :Float32;   # deg
  steeringRate @15 :Float32;   # deg/s
  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringTorqueEps @27 :Float32;  # TODO: standardize units
  steeringPressed @9 :Bool;    # if the user is using the steering wheel

  # cruise state
@@ -300,6 +305,7 @@ struct CarParams {
  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
  safetyModel @9 :SafetyModel;
+  safetyModelPassive @42 :SafetyModel = noOutput;
  safetyParam @10 :Int16;

  steerMaxBP @11 :List(Float32);
@@ -326,6 +332,7 @@ struct CarParams {
  lateralTuning :union {
    pid @26 :LateralPIDTuning;
    indi @27 :LateralINDITuning;
+    lqr @40 :LateralLQRTuning;
  }

  steerLimitAlert @28 :Bool;
@@ -341,6 +348,8 @@ struct CarParams {
  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
+  isPandaBlack @39: Bool;
+  dashcamOnly @41: Bool;

  struct LateralPIDTuning {
    kpBP @0 :List(Float32);
@@ -367,6 +376,20 @@ struct CarParams {
    actuatorEffectiveness @3 :Float32;
  }

+  struct LateralLQRTuning {
+    scale @0 :Float32;
+    ki @1 :Float32;
+    dcGain @2 :Float32;
+
+    # State space system
+    a @3 :List(Float32);
+    b @4 :List(Float32);
+    c @5 :List(Float32);
+
+    k @6 :List(Float32);  # LQR gain
+    l @7 :List(Float32);  # Kalman gain
+  }
+

  enum SafetyModel {
    # does NOT match board setting
@@ -382,6 +405,7 @@ struct CarParams {
    chrysler @9;
    tesla @10;
    subaru @11;
+    gmPassive @12;
  }

  enum SteerControlType {
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -284,6 +284,7 @@ struct ThermalData {
  thermalStatus @14 :ThermalStatus;
  chargingError @17 :Bool;
  chargingDisabled @18 :Bool;
+  ipAddr @19 :Text;

  enum ThermalStatus {
    green @0;   # all processes run
@@ -301,7 +302,7 @@ struct HealthData {
  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
  startedSignalDetectedDeprecated @5 :Bool;
-  isGreyPanda @6 :Bool;
+  hasGps @6 :Bool;
  canSendErrs @7 :UInt32;
  canFwdErrs @8 :UInt32;
  gmlanSendErrs @9 :UInt32;
@@ -373,6 +374,8 @@ struct LiveCalibrationData {
  # view_frame_from_road_frame
  # ui's is inversed needs new
  extrinsicMatrix @4 :List(Float32);
+  # the direction of travel vector in device frame
+  rpyCalib @7 :List(Float32);
 }

 struct LiveTracks {
@@ -437,9 +440,10 @@ struct ControlsState @0x97ff69c53601abf1 {
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
  alertType @44 :Text;
-  alertSound @45 :Text;
+  alertSoundDEPRECATED @45 :Text;
+  alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
  awarenessStatus @26 :Float32;
-  angleModelBias @27 :Float32;
+  angleModelBiasDEPRECATED @27 :Float32;
  gpsPlannerActive @40 :Bool;
  engageable @41 :Bool;  # can OP be engaged?
  driverMonitoringOn @43 :Bool;
@@ -448,9 +452,12 @@ struct ControlsState @0x97ff69c53601abf1 {
  vCurvature @46 :Float32;
  decelForTurn @47 :Bool;

+  decelForModel @54 :Bool;
+
  lateralControlState :union {
    indiState @52 :LateralINDIState;
    pidState @53 :LateralPIDState;
+    lqrState @55 :LateralLQRState;
  }

  enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -505,6 +512,15 @@ struct ControlsState @0x97ff69c53601abf1 {
    saturated @8 :Bool;
   }

+  struct LateralLQRState {
+    active @0 :Bool;
+    steerAngle @1 :Float32;
+    i @2 :Float32;
+    output @3 :Float32;
+    lqrOutput @4 :Float32;
+   }
+
+
 }

 struct LiveEventData {
@@ -514,6 +530,7 @@ struct LiveEventData {

 struct ModelData {
  frameId @0 :UInt32;
+  timestampEof @9 :UInt64;

  path @1 :PathData;
  leftLane @2 :PathData;
@@ -660,6 +677,7 @@ struct Plan {
    mpc1 @1;
    mpc2 @2;
    mpc3 @3;
+    model @4;
  }
 }

@@ -683,6 +701,32 @@ struct PathPlan {
  sensorValid @14 :Bool;
  commIssue @15 :Bool;
  posenetValid @16 :Bool;
+  desire @17 :Desire;
+  laneChangeState @18 :LaneChangeState;
+  laneChangeDirection @19 :LaneChangeDirection;
+
+  enum Desire {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+    laneChangeLeft @3;
+    laneChangeRight @4;
+    keepLeft @5;
+    keepRight @6;
+  }
+
+  enum LaneChangeState {
+    off @0;
+    preLaneChange @1;
+    laneChangeStarting @2;
+    laneChangeFinishing @3;
+  }
+
+  enum LaneChangeDirection {
+    none @0;
+    left @1;
+    right @2;
+  }
 }

 struct LiveLocationData {
@@ -1661,8 +1705,15 @@ struct OrbKeyFrame {

 struct DriverMonitoring {
  frameId @0 :UInt32;
-  descriptor @1 :List(Float32);
-  std @2 :Float32;
+  descriptorDEPRECATED @1 :List(Float32);
+  stdDEPRECATED @2 :Float32;
+  faceOrientation @3 :List(Float32);
+  facePosition @4 :List(Float32);
+  faceProb @5 :Float32;
+  leftEyeProb @6 :Float32;
+  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
 }

 struct Boot {
@@ -1705,6 +1756,8 @@ struct LiveMapData {
 }

 struct CameraOdometry {
+  frameId @4 :UInt32;
+  timestampEof @5 :UInt64;
  trans @0 :List(Float32); # m/s in device frame
  rot @1 :List(Float32); # rad/s in device frame
  transStd @2 :List(Float32); # std m/s in device frame
--- a/common/api/init.py
+++ b/common/api/init.py
@@ -1,7 +1,34 @@
+import jwt
 import requests
+from datetime import datetime, timedelta

 from selfdrive.version import version

+class Api(object):
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    with open('/persist/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self):
+    now = datetime.utcnow()
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=1)
+    }
+    return jwt.encode(payload, self.private_key, algorithm='RS256')
+
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"

--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@@ -24,21 +24,12 @@ def rm_tree_or_link(path):
    shutil.rmtree(path)

 def get_tmpdir_on_same_filesystem(path):
-  # TODO(mgraczyk): HACK, we should actually check for which filesystem.
  normpath = os.path.normpath(path)
  parts = normpath.split("/")
-  if len(parts) > 1:
-    if parts[1].startswith("raid") or parts[1].startswith("datasets"):
-      if len(parts) > 2 and parts[2] == "runner":
-        return "/{}/runner/tmp".format(parts[1])
-      elif len(parts) > 2 and parts[2] == "aws":
-        return "/{}/aws/tmp".format(parts[1])
-      else:
-        return "/{}/tmp".format(parts[1])
-    elif parts[1] == "aws":
-      return "/aws/tmp"
-    elif parts[1] == "scratch":
-      return "/scratch/tmp"
+  if len(parts) > 1 and parts[1] == "scratch":
+    return "/scratch/tmp"
+  elif len(parts) > 2 and parts[2] == "runner":
+    return "/{}/runner/tmp".format(parts[1])
  return "/tmp"

 class AutoMoveTempdir(object):
--- a/common/kalman/ekf.py
+++ b/common/kalman/ekf.py
@@ -1,253 +0,0 @@
-# pylint: skip-file
-from __future__ import print_function
-import abc
-import numpy as np
-# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
-# A subclass must implement:
-#   1) calc_transfer_fun(); see bottom of file for more info.
-#   2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
-
-# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
-
-# Sensor classes are optionally used to pass measurement information into the EKF, to keep
-#   sensor parameters and processing methods for a each sensor together.
-# Sensor classes have a read() method which takes raw sensor data and returns
-#   a SensorReading object, which can be passed to the EKF update() method.
-
-# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
-# ekf.predict(dt) should be called between update cycles with the time since it was last called.
-# Ideally, predict(dt) should be called at a relatively constant rate.
-# update() should be called once per sensor, and can be called multiple times between predict steps.
-# Access and set the state of the filter directly with ekf.state and ekf.covar.
-
-
-class SensorReading:
-  # Given a perfect model and no noise, data = obs_model * state
-  def __init__(self, data, covar, obs_model):
-    self.data = data
-    self.obs_model = obs_model
-    self.covar = covar
-
-  def __repr__(self):
-    return "SensorReading(data={}, covar={}, obs_model={})".format(
-      repr(self.data), repr(self.covar), repr(self.obs_model))
-
-
-# A generic sensor class that does no pre-processing of data
-class SimpleSensor:
-  # obs_model can be
-  #   a full observation model matrix, or
-  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
-  # covar can be
-  #   a full covariance matrix
-  #   a float or tuple of individual covars for each component of the sensor reading
-  # dims is the number of states in the EKF
-  def __init__(self, obs_model, covar, dims):
-    # Allow for integer covar/obs_model
-    if not hasattr(obs_model, "__len__"):
-      obs_model = (obs_model, )
-    if not hasattr(covar, "__len__"):
-      covar = (covar, )
-
-    # Full observation model passed
-    if dims in np.array(obs_model).shape:
-      self.obs_model = np.asmatrix(obs_model)
-      self.covar = np.asmatrix(covar)
-    # Indices of unit observations passed
-    else:
-      self.obs_model = np.matlib.zeros((len(obs_model), dims))
-      self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
-      if np.asarray(covar).ndim == 2:
-        self.covar = np.asmatrix(covar)
-      elif len(covar) == len(obs_model):
-        self.covar = np.matlib.diag(covar)
-      else:
-        self.covar = np.matlib.identity(len(obs_model)) * covar
-
-  def read(self, data, covar=None):
-    if covar:
-      self.covar = covar
-    return SensorReading(data, self.covar, self.obs_model)
-
-
-class EKF:
-  __metaclass__ = abc.ABCMeta
-
-  def __init__(self, debug=False):
-    self.DEBUG = debug
-
-
-  def __str__(self):
-    return "EKF(state={}, covar={})".format(self.state, self.covar)
-
-  # Measurement update
-  # Reading should be a SensorReading object with data, covar, and obs_model attributes
-  def update(self, reading):
-    # Potential improvements:
-    # deal with negative covars
-    # add noise to really low covars to ensure stability
-    # use mahalanobis distance to reject outliers
-    # wrap angles after state updates and innovation
-
-    # y = z - H*x
-    innovation = reading.data - reading.obs_model * self.state
-
-    if self.DEBUG:
-      print("reading:\n",reading.data)
-      print("innovation:\n",innovation)
-
-    # S = H*P*H' + R
-    innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
-
-    # K = P*H'*S^-1
-    kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
-      innovation_covar)
-
-    if self.DEBUG:
-      print("gain:\n", kalman_gain)
-      print("innovation_covar:\n", innovation_covar)
-      print("innovation: ", innovation)
-      print("test: ", self.covar * reading.obs_model.T * (
-        reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
-        0).I)
-
-    # x = x + K*y
-    self.state += kalman_gain*innovation
-
-    # print "covar", np.diag(self.covar)
-    #self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
-
-    # Standard form: P = (I - K*H)*P
-    # self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
-
-    # Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
-    aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
-    self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
-
-    if self.DEBUG:
-      print("After update")
-      print("state\n", self.state)
-      print("covar:\n",self.covar)
-
-  def update_scalar(self, reading):
-    # like update but knowing that measurement is a scalar
-    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
-
-    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
-    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
-    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
-    # self.state += np.matmul(kalman_gain, innovation)
-    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
-    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
-
-    # written without np.matmul
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB_T = "ij,kj->ik"
-    AB = "ij,jk->ik"
-    innovation = reading.data - es(AB, reading.obs_model, self.state)
-    innovation_covar = es(ABC_T, reading.obs_model, self.covar,
-                          reading.obs_model) + reading.covar
-    kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
-
-    self.state += es(AB, kalman_gain, innovation)
-    aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
-    self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
-                 es(ABC_T, kalman_gain, reading.covar, kalman_gain)
-
-  # Prediction update
-  def predict(self, dt):
-    es = np.einsum
-    ABC_T = "ij,jk,lk->il"
-    AB = "ij,jk->ik"
-
-    # State update
-    transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
-
-    # self.state = np.matmul(transfer_fun, self.state)
-    # self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
-
-    # x = f(x, u), written in the form x = A(x, u)*x
-    self.state = es(AB, transfer_fun, self.state)
-
-    # P = J*P*J' + Q
-    self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
-                    transfer_fun_jacobian) + self.process_noise * dt  #!dt
-
-    #! Clip covariance to avoid explosions
-    self.covar = np.clip(self.covar,-1e10,1e10)
-
-  @abc.abstractmethod
-  def calc_transfer_fun(self, dt):
-    """Return a tuple with the transfer function and transfer function jacobian
-    The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
-
-    The transfer function matrix A should satisfy the state-update equation
-      x_(k+1) = A * x_k
-
-    The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
-
-    Current implementations calculate A and J as functions of state. Control input
-      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calculation of A and J
-    """
-
-
-class FastEKF1D(EKF):
-  """Fast version of EKF for 1D problems with scalar readings."""
-
-  def __init__(self, dt, var_init, Q):
-    super(FastEKF1D, self).__init__(False)
-    self.state = [0, 0]
-    self.covar = [var_init, var_init, 0]
-
-    # Process Noise
-    self.dtQ0 = dt * Q[0]
-    self.dtQ1 = dt * Q[1]
-
-  def update(self, reading):
-    raise NotImplementedError
-
-  def update_scalar(self, reading):
-    # TODO(mgraczyk): Delete this for speed.
-    # assert np.all(reading.obs_model == [1, 0])
-
-    rcov = reading.covar[0, 0]
-
-    x = self.state
-    S = self.covar
-
-    innovation = reading.data - x[0]
-    innovation_covar = S[0] + rcov
-
-    k0 = S[0] / innovation_covar
-    k1 = S[2] / innovation_covar
-
-    x[0] += k0 * innovation
-    x[1] += k1 * innovation
-
-    mk = 1 - k0
-    S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
-    S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
-    S[0] = mk * mk * S[0] + rcov * k0 * k0
-
-  def predict(self, dt):
-    # State update
-    x = self.state
-
-    x[0] += dt * x[1]
-
-    # P = J*P*J' + Q
-    S = self.covar
-    S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
-    S[2] += dt * S[1]
-    S[1] += self.dtQ1
-
-    # Clip covariance to avoid explosions
-    S = max(-1e10, min(S, 1e10))
-
-  def calc_transfer_fun(self, dt):
-    tf = np.identity(2)
-    tf[0, 1] = dt
-    tfj = tf
-    return tf, tfj
--- a/common/kalman/tests/test_ekf.py
+++ b/common/kalman/tests/test_ekf.py
@@ -1,116 +0,0 @@
-import numpy as np
-import numpy.matlib
-import unittest
-import timeit
-
-from common.kalman.ekf import EKF, SimpleSensor, FastEKF1D
-
-class TestEKF(EKF):
-  def __init__(self, var_init, Q):
-    super(TestEKF, self).__init__(False)
-    self.identity = numpy.matlib.identity(2)
-    self.state = numpy.matlib.zeros((2, 1))
-    self.covar = self.identity * var_init
-
-    self.process_noise = numpy.matlib.diag(Q)
-
-  def calc_transfer_fun(self, dt):
-    tf = numpy.matlib.identity(2)
-    tf[0, 1] = dt
-    return tf, tf
-
-
-class EKFTest(unittest.TestCase):
-  def test_update_scalar(self):
-    ekf = TestEKF(1e3, [0.1, 1])
-    dt = 1. / 100
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(100, 300))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[300], [100]], 1e-4)
-    np.testing.assert_allclose(
-      ekf.covar,
-      np.asarray([[0.0563, 0.10278], [0.10278, 0.55779]]),
-      atol=1e-4)
-
-  def test_unbiased(self):
-    ekf = TestEKF(1e3, [0., 0.])
-    dt = np.float64(1. / 100)
-
-    sensor = SimpleSensor(0, 1, 2)
-    readings = map(sensor.read, np.arange(1000))
-
-    for reading in readings:
-      ekf.update_scalar(reading)
-      ekf.predict(dt)
-
-    np.testing.assert_allclose(ekf.state, [[1000.], [100.]], 1e-4)
-
-
-class FastEKF1DTest(unittest.TestCase):
-  def test_correctness(self):
-    dt = 1. / 100
-    reading = SimpleSensor(0, 1, 2).read(100)
-
-    ekf = TestEKF(1e3, [0.1, 1])
-    fast_ekf = FastEKF1D(dt, 1e3, [0.1, 1])
-
-    ekf.update_scalar(reading)
-    fast_ekf.update_scalar(reading)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-    ekf.predict(dt)
-    fast_ekf.predict(dt)
-    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
-    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
-    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
-    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
-    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
-
-  def test_speed(self):
-    setup = """
-import numpy as np
-from common.kalman.tests.test_ekf import TestEKF
-from common.kalman.ekf import SimpleSensor, FastEKF1D
-
-dt = 1. / 100
-reading = SimpleSensor(0, 1, 2).read(100)
-
-var_init, Q = 1e3, [0.1, 1]
-ekf = TestEKF(var_init, Q)
-fast_ekf = FastEKF1D(dt, var_init, Q)
-    """
-
-    timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    ekf_speed = timeit.timeit("""
-ekf.update_scalar(reading)
-ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=1000)
-
-    fast_ekf_speed = timeit.timeit("""
-fast_ekf.update_scalar(reading)
-fast_ekf.predict(dt)
-    """, setup=setup, number=20000)
-
-    assert fast_ekf_speed < ekf_speed / 4
-
-if __name__ == "__main__":
-  unittest.main()
--- a/common/params.py
+++ b/common/params.py
@@ -27,6 +27,7 @@ import sys
 import shutil
 import fcntl
 import tempfile
+import threading
 from enum import Enum


@@ -53,6 +54,7 @@ keys = {
  "AthenadPid": [TxType.PERSISTENT],
  "CalibrationParams": [TxType.PERSISTENT],
  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "CompletedTrainingVersion": [TxType.PERSISTENT],
  "ControlsParams": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
@@ -62,14 +64,14 @@ keys = {
  "GitCommit": [TxType.PERSISTENT],
  "GitRemote": [TxType.PERSISTENT],
  "HasAcceptedTerms": [TxType.PERSISTENT],
-  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
-  "IsFcwEnabled": [TxType.PERSISTENT],
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
+  "IsRHD": [TxType.PERSISTENT],
  "IsUpdateAvailable": [TxType.PERSISTENT],
  "IsUploadRawEnabled": [TxType.PERSISTENT],
  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
+  "LimitSetSpeedNeural": [TxType.PERSISTENT],
  "LiveParameters": [TxType.PERSISTENT],
  "LongitudinalControl": [TxType.PERSISTENT],
  "Passive": [TxType.PERSISTENT],
@@ -97,7 +99,38 @@ keys = {
  "DragonCachedFP": [TxType.PERSISTENT],
  "DragonCachedVIN": [TxType.PERSISTENT],
  "DragonAllowGas": [TxType.PERSISTENT],
-  "DragonBBUI": [TxType.PERSISTENT],
+  "DragonBBUI": [TxType.PERSISTENT], # deprecated
+  "DragonToyotaStockDSU": [TxType.PERSISTENT],
+  "DragonLatCtrl": [TxType.PERSISTENT],
+  "DragonUISpeed": [TxType.PERSISTENT],
+  "DragonUIEvent": [TxType.PERSISTENT],
+  "DragonUIMaxSpeed": [TxType.PERSISTENT],
+  "DragonUIFace": [TxType.PERSISTENT],
+  "DragonUIDev": [TxType.PERSISTENT],
+  "DragonUIDevMini": [TxType.PERSISTENT],
+  "DragonEnableTomTom": [TxType.PERSISTENT],
+  "DragonBootTomTom": [TxType.PERSISTENT],
+  "DragonRunTomTom": [TxType.PERSISTENT],
+  "DragonEnableAutonavi": [TxType.PERSISTENT],
+  "DragonBootAutonavi": [TxType.PERSISTENT],
+  "DragonRunAutonavi": [TxType.PERSISTENT],
+  "DragonEnableMixplorer": [TxType.PERSISTENT],
+  "DragonRunMixplorer": [TxType.PERSISTENT],
+  "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
+  "DragonCameraOffset": [TxType.PERSISTENT],
+  "DragonUIVolumeBoost": [TxType.PERSISTENT],
+  "DragonGreyPandaMode": [TxType.PERSISTENT],
+  "DragonDrivingUI": [TxType.PERSISTENT],
+  "DragonDisplaySteeringLimitAlert": [TxType.PERSISTENT],
+  "DragonChargingCtrl": [TxType.PERSISTENT],
+  "DragonCharging": [TxType.PERSISTENT],
+  "DragonDisCharging": [TxType.PERSISTENT],
+  "DragonToyotaLaneDepartureWarning": [TxType.PERSISTENT],
+  "DragonUILane": [TxType.PERSISTENT],
+  "DragonUILead": [TxType.PERSISTENT],
+  "DragonUIPath": [TxType.PERSISTENT],
+  "DragonUIBlinker": [TxType.PERSISTENT],
+  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
 }


@@ -362,6 +395,17 @@ class Params(object):

    write_db(self.db, key, dat)

+
+def put_nonblocking(key, val):
+  def f(key, val):
+    params = Params()
+    params.put(key, val)
+
+  t = threading.Thread(target=f, args=(key, val))
+  t.start()
+  return t
+
+
 if __name__ == "__main__":
  params = Params()
  if len(sys.argv) > 2:
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -20,6 +20,7 @@ DT_CTRL = 0.01  # controlsd
 DT_PLAN = 0.05  # mpc
 DT_MDL = 0.05  # model
 DT_DMON = 0.1  # driver monitoring
+DT_TRML = 0.5  # thermald and manager


 ffi = FFI()
--- a/common/stat_live.py
+++ b/common/stat_live.py
@@ -0,0 +1,73 @@
+import numpy as np
+
+class RunningStat():
+  # tracks realtime mean and standard deviation without storing any data
+  def __init__(self, priors=None, max_trackable=-1):
+    self.max_trackable = max_trackable
+    if priors is not None:
+      # initialize from history
+      self.M = priors[0]
+      self.S = priors[1]
+      self.n = priors[2]
+      self.M_last = self.M
+      self.S_last = self.S
+      
+    else:
+      self.reset()
+
+  def reset(self):
+    self.M = 0.
+    self.S = 0.
+    self.M_last = 0.
+    self.S_last = 0.
+    self.n = 0
+
+  def push_data(self, new_data):
+    # short term memory hack
+    if self.max_trackable < 0 or self.n < self.max_trackable:
+      self.n += 1
+    if self.n == 0:
+      self.M_last = new_data
+      self.M = self.M_last
+      self.S_last = 0.
+    else:
+      self.M = self.M_last + (new_data - self.M_last) / self.n
+      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M);
+      self.M_last = self.M
+      self.S_last = self.S
+
+  def mean(self):
+    return self.M
+
+  def variance(self):
+    if self.n >= 2:
+      return self.S / (self.n - 1.)
+    else:
+      return 0
+
+  def std(self):
+    return np.sqrt(self.variance())
+
+  def params_to_save(self):
+    return [self.M, self.S, self.n]
+
+class RunningStatFilter():
+  def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
+    self.raw_stat = RunningStat(raw_priors, max_trackable)
+    self.filtered_stat = RunningStat(filtered_priors, max_trackable)
+
+  def reset(self):
+    self.raw_stat.reset()
+    self.filtered_stat.reset()
+
+  def push_and_update(self, new_data):
+    _std_last = self.raw_stat.std()
+    self.raw_stat.push_data(new_data)
+    _delta_std = self.raw_stat.std() - _std_last
+    if _delta_std<=0:
+      self.filtered_stat.push_data(new_data)
+    else:
+      pass
+      # self.filtered_stat.push_data(self.filtered_stat.mean())
+
+# class SequentialBayesian():
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -154,17 +154,40 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
                    W_border: size[1] - W_border]


+def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  calib_frame_from_ground = np.dot(eon_intrinsics,
+                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
+  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
+  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
+  return camera_frame_from_calib_frame
+
+
+def pretransform_from_calib(calib):
+  roll, pitch, yaw, height = calib
+  view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
+  camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
+  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
+  return np.linalg.inv(camera_frame_from_calib_frame)
+
+
 def transform_img(base_img,
                 augment_trans=np.array([0,0,0]),
                 augment_eulers=np.array([0,0,0]),
                 from_intr=eon_intrinsics,
                 to_intr=eon_intrinsics,
-                 calib_rot_view=None,
                 output_size=None,
                 pretransform=None,
-                 top_hacks=True):
+                 top_hacks=False,
+                 yuv=False,
+                 alpha=1.0,
+                 beta=0,
+                 blur=0):
  import cv2

+  if yuv:
+    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
+
  size = base_img.shape[:2]
  if not output_size:
    output_size = size[::-1]
@@ -180,8 +203,6 @@ def transform_img(base_img,
                                        h*np.ones(4),
                                        h/quadrangle_norm[:,1]))
    rot = orient.rot_from_euler(augment_eulers)
-    if calib_rot_view is not None:
-      rot = calib_rot_view.dot(rot)
    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
    to_KE = to_intr.dot(to_extrinsics)
    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
@@ -202,7 +223,19 @@ def transform_img(base_img,
      M = M.dot(pretransform)
    augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)

-  return augmented_rgb
+  # brightness and contrast augment
+  augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
+
+  # gaussian blur
+  if blur > 0:
+    augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
+
+  if yuv:
+    augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
+  else:
+    augmented_img = augmented_rgb
+  return augmented_img
+

 def yuv_crop(frame, output_size, center=None):
  # output_size in camera coordinates so u,v
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,8 +1,8 @@
 import numpy as np

-from common.transformations.camera import eon_focal_length, \
-        vp_from_ke, get_view_frame_from_road_frame, \
-        FULL_FRAME_SIZE
+from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
+                                           get_view_frame_from_road_frame,
+                                           vp_from_ke)

 # segnet

--- a/common/vin.py
+++ b/common/vin.py
@@ -1,61 +1,8 @@
 #!/usr/bin/env python
-import time
-from common.realtime import sec_since_boot
 import selfdrive.messaging as messaging
 from selfdrive.boardd.boardd import can_list_to_can_capnp

-def get_vin(logcan, sendcan):
-
-  # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
-  # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
-  query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
-               [0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
-
-  cnts = [1, 2]  # Number of messages to wait for at each iteration
-  vin_valid = True
-
-  dat = []
-  for i in range(len(query_msg)):
-    cnt = 0
-    sendcan.send(can_list_to_can_capnp([query_msg[i]], msgtype='sendcan'))
-    got_response = False
-    t_start = sec_since_boot()
-    while sec_since_boot() - t_start < 0.05 and not got_response:
-      for a in messaging.drain_sock(logcan):
-        for can in a.can:
-          if can.src == 0 and can.address == 0x7e8:
-            vin_valid = vin_valid and is_vin_response_valid(can.dat, i, cnt)
-            dat += can.dat[2:] if i == 0 else can.dat[1:]
-            cnt += 1
-            if cnt == cnts[i]:
-              got_response = True
-      time.sleep(0.01)
-
-  return "".join(dat[3:]) if vin_valid else ""
-
-"""
-if 'vin' not in gctx:
-  print "getting vin"
-  gctx['vin'] = query_vin()[3:]
-  print "got VIN %s" % (gctx['vin'],)
-  cloudlog.info("got VIN %s" % (gctx['vin'],))
-
-# *** determine platform based on VIN ****
-if vin.startswith("19UDE2F36G"):
-  print "ACURA ILX 2016"
-  self.civic = False
-else:
-  # TODO: add Honda check explicitly
-  print "HONDA CIVIC 2016"
-  self.civic = True
-
-# *** special case VIN of Acura test platform
-if vin == "19UDE2F36GA001322":
-  print "comma.ai test platform detected"
-  # it has a gas interceptor and a torque mod
-  self.torque_mod = True
-"""
-
+VIN_UNKNOWN = "0" * 17

 # sanity checks on response messages from vin query
 def is_vin_response_valid(can_dat, step, cnt):
@@ -84,12 +31,71 @@ def is_vin_response_valid(can_dat, step, cnt):
  return True


-if __name__ == "__main__":
-  import zmq
-  from selfdrive.services import service_list
-  context = zmq.Context()
-  logcan = messaging.sub_sock(context, service_list['can'].port)
-  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
-  time.sleep(1.)   # give time to sendcan socket to start
+class VinQuery():
+  def __init__(self, bus):
+    self.bus = bus
+    # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
+    # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
+    self.query_ext_msgs = [[0x18DB33F1, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x18DA10f1, 0, '\x30'.ljust(8, "\x00"), bus]]
+    self.query_nor_msgs = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
+                           [0x7e0, 0, '\x30'.ljust(8, "\x00"), bus]]

-  print get_vin(logcan, sendcan)
+    self.cnts = [1, 2]  # number of messages to wait for at each iteration
+    self.step = 0
+    self.cnt = 0
+    self.responded = False
+    self.never_responded = True
+    self.dat = []
+    self.vin = VIN_UNKNOWN
+
+  def check_response(self, msg):
+    # have we got a VIN query response?
+    if msg.src == self.bus and msg.address in [0x18daf110, 0x7e8]:
+      self.never_responded = False
+      # basic sanity checks on ISO-TP response
+      if is_vin_response_valid(msg.dat, self.step, self.cnt):
+        self.dat += msg.dat[2:] if self.step == 0 else msg.dat[1:]
+        self.cnt += 1
+        if self.cnt == self.cnts[self.step]:
+          self.responded = True
+          self.step += 1
+
+  def send_query(self, sendcan):
+    # keep sending VIN qury if ECU isn't responsing.
+    # sendcan is probably not ready due to the zmq slow joiner syndrome
+    if self.never_responded or (self.responded and self.step < len(self.cnts)):
+      sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
+      sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
+      self.responded = False
+      self.cnt = 0
+
+  def get_vin(self):
+    # only report vin if procedure is finished
+    if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
+      self.vin = "".join(self.dat[3:])
+    return self.vin
+
+
+def get_vin(logcan, sendcan, bus, query_time=1.):
+  vin_query = VinQuery(bus)
+  frame = 0
+
+  # 1s max of VIN query time
+  while frame < query_time * 100:
+    a = messaging.recv_one(logcan)
+
+    for can in a.can:
+      vin_query.check_response(can)
+
+    vin_query.send_query(sendcan)
+    frame += 1
+
+  return vin_query.get_vin()
+
+
+if __name__ == "__main__":
+  from selfdrive.services import service_list
+  logcan = messaging.sub_sock(service_list['can'].port)
+  sendcan = messaging.pub_sock(service_list['sendcan'].port)
+  print get_vin(logcan, sendcan, 0)
--- a/dragonpilot/chinese-fonts/installer.sh
+++ b/dragonpilot/chinese-fonts/installer.sh
@@ -23,8 +23,8 @@ if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
 fi

 if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
-    # sleep 5 secs in case, make sure the /system is remountable
-    sleep 5
+    # sleep 3 secs in case, make sure the /system is remountable
+    sleep 3
    mount -o remount,rw /system
    if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
        # download regular font
@@ -46,5 +46,7 @@ if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_ol
    fi
    mount -o remount,r /system
    # change system locale
-    setprop persist.sys.locale $lang
-fi
+fi
+
+setprop persist.sys.locale $lang
+setprop persist.sys.local $lang
--- a/installer/updater/Makefile
+++ b/installer/updater/Makefile
@@ -31,7 +31,9 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
 .PHONY: all
 all: updater

-OBJS = courbd.ttf.o \
+OBJS = opensans_regular.ttf.o \
+			 opensans_semibold.ttf.o \
+			 opensans_bold.ttf.o \
       ../../selfdrive/common/touch.o \
       ../../selfdrive/common/framebuffer.o \
       $(PHONELIBS)/json11/json11.o \
@@ -50,7 +52,15 @@ updater: updater.o $(OBJS)
    -lcutils -lm -llog
 	strip updater

-courbd.ttf.o: ../../selfdrive/assets/courbd.ttf
+opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'

--- a/installer/updater/update.json
+++ b/installer/updater/update.json
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f.zip",
-  "ota_hash": "c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a.img",
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip",
+  "ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img",
  "recovery_len": 15136044,
-  "recovery_hash": "af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a"
+  "recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662"
 }
--- a/installer/updater/updater
+++ b/installer/updater/updater
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -43,8 +43,12 @@ const char *manifest_url = MANIFEST_URL_EON;

 #define UPDATE_DIR "/data/neoupdate"

-extern const uint8_t bin_courbd[] asm("_binary_courbd_ttf_start");
-extern const uint8_t bin_courbd_end[] asm("_binary_courbd_ttf_end");
+extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
+extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
+extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
+extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
+extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
+extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");

 namespace {

@@ -113,11 +117,19 @@ size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
  return fwrite(ptr, size, nmeb, (FILE*)up);
 }

-bool check_battery() {
+int battery_capacity() {
  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
-  int bat_cap = atoi(bat_cap_s.c_str());
+  return atoi(bat_cap_s.c_str());
+}
+
+int battery_current() {
  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
-  int current_now = atoi(current_now_s.c_str());
+  return atoi(current_now_s.c_str());
+}
+
+bool check_battery() {
+  int bat_cap = battery_capacity();
+  int current_now = battery_current();
  return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
 }

@@ -148,7 +160,9 @@ struct Updater {

  FramebufferState *fb = NULL;
  NVGcontext *vg = NULL;
-  int font;
+  int font_regular;
+  int font_semibold;
+  int font_bold;

  std::thread update_thread_handle;

@@ -157,6 +171,7 @@ struct Updater {
  // i hate state machines give me coroutines already
  enum UpdateState {
    CONFIRMATION,
+    LOW_BATTERY,
    RUNNING,
    ERROR,
  };
@@ -167,6 +182,12 @@ struct Updater {

  std::string error_text;

+  std::string low_battery_text;
+  std::string low_battery_title;
+  std::string low_battery_context;
+  std::string battery_cap_text;
+  int min_battery_cap = 35;
+
  // button
  int b_x, b_w, b_y, b_h;
  int balt_x;
@@ -182,14 +203,21 @@ struct Updater {

    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
    assert(vg);
-    font = nvgCreateFontMem(vg, "courbd", (unsigned char*)bin_courbd, (bin_courbd_end - bin_courbd), 0);
-    assert(font >= 0);

-    b_w = 600;
+    font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
+    assert(font_regular >= 0);
+
+    font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
+    assert(font_semibold >= 0);
+
+    font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
+    assert(font_bold >= 0);
+
+    b_w = 640;
    balt_x = 200;
    b_x = fb_w-b_w-200;
-    b_y = 700;
-    b_h = 250;
+    b_y = 720;
+    b_h = 220;

    state = CONFIRMATION;

@@ -283,17 +311,27 @@ struct Updater {
    state = ERROR;
  }

+  void set_battery_low() {
+    std::lock_guard<std::mutex> guard(lock);
+    state = LOW_BATTERY;
+  }
+
+  void set_running() {
+    std::lock_guard<std::mutex> guard(lock);
+    state = RUNNING;
+  }
+
  std::string stage_download(std::string url, std::string hash, std::string name) {
    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);

-    set_progress("downloading " + name + "...");
+    set_progress("Downloading " + name + "...");
    bool r = download_file(url, out_fn);
    if (!r) {
      set_error("failed to download " + name);
      return "";
    }

-    set_progress("verifying " + name + "...");
+    set_progress("Verifying " + name + "...");
    std::string fn_hash = sha256_file(out_fn);
    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
    if (fn_hash != hash) {
@@ -310,8 +348,14 @@ struct Updater {
    assert(curl);

    if (!check_battery()) {
-      set_error("Please plug power in to your EON and wait for charge");
-      return;
+      set_battery_low();
+      int battery_cap = battery_capacity();
+      while(battery_cap < min_battery_cap) {
+        battery_cap = battery_capacity();
+        battery_cap_text = std::to_string(battery_cap);
+        usleep(1000000);
+      }
+      set_running();
    }

    if (!check_space()) {
@@ -323,7 +367,7 @@ struct Updater {

    const int EON = (access("/EON", F_OK) != -1);

-    set_progress("finding latest version...");
+    set_progress("Finding latest version...");
    std::string manifest_s;
    if (EON) {
      manifest_s = download_string(curl, manifest_url);
@@ -364,10 +408,10 @@ struct Updater {

    std::string recovery_fn;
    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("skipping recovery flash...");
+      set_progress("Skipping recovery flash...");
    } else {
      // only download the recovery if it differs from what's flashed
-      set_progress("checking recovery...");
+      set_progress("Checking recovery...");
      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());

@@ -387,13 +431,19 @@ struct Updater {
    }

    if (!check_battery()) {
-      set_error("must have at least 35% battery to update");
-      return;
+      set_battery_low();
+      int battery_cap = battery_capacity();
+      while(battery_cap < min_battery_cap) {
+        battery_cap = battery_capacity();
+        battery_cap_text = std::to_string(battery_cap);
+        usleep(1000000);
+      }
+      set_running();
    }

    if (!recovery_fn.empty()) {
      // flash recovery
-      set_progress("flashing recovery...");
+      set_progress("Flashing recovery...");

      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
      if (!flash_file) {
@@ -427,7 +477,7 @@ struct Updater {
      fclose(recovery_dev);
      fclose(flash_file);

-      set_progress("verifying flash...");
+      set_progress("Verifying flash...");
      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
      printf("new recovery hash: %s\n", new_recovery_hash.c_str());

@@ -447,7 +497,7 @@ struct Updater {
    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
    fclose(cmd_file);

-    set_progress("rebooting");
+    set_progress("Rebooting");

    // remove the continue.sh so we come back into the setup.
    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
@@ -462,25 +512,32 @@ struct Updater {
    // set_error("failed to reboot into recovery");
  }

-  void draw_ack_screen(const char *message, const char *button, const char *altbutton) {
-    nvgFontSize(vg, 96.0f);
+  void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
-    nvgTextBox(vg, 50, 100, fb_w-100, message, NULL);
+    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+
+    nvgFontFace(vg, "opensans_bold");
+    nvgFontSize(vg, 120.0f);
+    nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
+
+    nvgFontFace(vg, "opensans_regular");
+    nvgFontSize(vg, 86.0f);
+    nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);

    // draw button
    if (button) {
      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
+      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
      nvgFill(vg);

      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgFontFace(vg, "opensans_semibold");
      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);

      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
      nvgStrokeWidth(vg, 5);
      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
      nvgStroke(vg);
@@ -489,44 +546,70 @@ struct Updater {
    // draw button
    if (altbutton) {
      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
+      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
      nvgFill(vg);

      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgFontFace(vg, "opensans_semibold");
      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);

      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
+      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
      nvgStrokeWidth(vg, 5);
      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
      nvgStroke(vg);
    }
  }

+  void draw_battery_screen() {
+    low_battery_title = "Low Battery";
+    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
+    low_battery_context = "Current battery charge: " + battery_cap_text + "%";
+
+    nvgFillColor(vg, nvgRGBA(255,255,255,255));
+    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+
+    nvgFontFace(vg, "opensans_bold");
+    nvgFontSize(vg, 120.0f);
+    nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
+
+    nvgFontFace(vg, "opensans_regular");
+    nvgFontSize(vg, 86.0f);
+    nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
+
+    nvgFontFace(vg, "opensans_bold");
+    nvgFontSize(vg, 86.0f);
+    nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
+  }
+
  void draw_progress_screen() {
    // draw progress message
    nvgFontSize(vg, 64.0f);
    nvgFillColor(vg, nvgRGBA(255,255,255,255));
    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-    nvgTextBox(vg, 0, 700, fb_w, progress_text.c_str(), NULL);
+    nvgFontFace(vg, "opensans_bold");
+    nvgFontSize(vg, 86.0f);
+    nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);

    // draw progress bar
    {
-      int progress_width = 800;
+      int progress_width = 1000;
      int progress_x = fb_w/2-progress_width/2;
-      int progress_y = 768;
-      int progress_height = 15;
+      int progress_y = 520;
+      int progress_height = 50;

-      int powerprompt_y = 512;
-      nvgText(vg, fb_w/2, powerprompt_y, "Ensure EON is connected to power", NULL);
+      int powerprompt_y = 312;
+      nvgFontFace(vg, "opensans_regular");
+      nvgFontSize(vg, 64.0f);
+      nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);

      NVGpaint paint = nvgBoxGradient(
          vg, progress_x + 1, progress_y + 1,
-          progress_width - 2, progress_height, 3, 4, nvgRGB(0, 32, 0), nvgRGB(0, 92, 0));
+          progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
      nvgBeginPath(vg);
-      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 3);
+      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
      nvgFillPaint(vg, paint);
      nvgFill(vg);

@@ -536,12 +619,12 @@ struct Updater {
      paint = nvgBoxGradient(
          vg, progress_x, progress_y,
          bar_pos+1.5f, progress_height-1, 3, 4,
-          nvgRGB(220, 100, 0), nvgRGB(128, 100, 0));
+          nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));

      nvgBeginPath(vg);
      nvgRoundedRect(
          vg, progress_x+1, progress_y+1,
-          bar_pos, progress_height-2, 3);
+          bar_pos, progress_height-2, 12);
      nvgFillPaint(vg, paint);
      nvgFill(vg);
    }
@@ -554,16 +637,19 @@ struct Updater {

    switch (state) {
    case CONFIRMATION:
-      draw_ack_screen("An upgrade to NEOS is required.\n\n"
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB\nData on device shouldn't be lost.",
-                      "continue",
-                      "wifi");
+      draw_ack_screen("An update to NEOS is required.",
+                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
+                      "Continue",
+                      "Connect to WiFi");
+      break;
+    case LOW_BATTERY:
+      draw_battery_screen();
      break;
    case RUNNING:
      draw_progress_screen();
      break;
    case ERROR:
-      draw_ack_screen(("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
+      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
      break;
    }

@@ -604,9 +690,17 @@ struct Updater {
    while (!do_exit) {
      ui_update();

-      glClearColor(0.19, 0.09, 0.2, 1.0);
+      glClearColor(0.08, 0.08, 0.08, 1.0);
      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

+      // background
+      nvgBeginPath(vg);
+      NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
+        nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
+      nvgFillPaint(vg, bg);
+      nvgRect(vg, 0, 0, fb_w, fb_h);
+      nvgFill(vg);
+
      glEnable(GL_BLEND);
      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

@@ -615,6 +709,7 @@ struct Updater {
      glDisable(GL_BLEND);

      eglSwapBuffers(display, surface);
+
      assert(glGetError() == GL_NO_ERROR);

      // no simple way to do 30fps vsync with surfaceflinger...
--- a/models/driving_model.dlc
+++ b/models/driving_model.dlc
--- a/models/monitoring_model.dlc
+++ b/models/monitoring_model.dlc
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -107,21 +108,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -107,21 +108,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc
@@ -132,13 +132,12 @@ BO_ 705 AUTO_PARK_BUTTON: 8 XXX
 BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
 SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX

-BO_ 671 AUTO_PARK_SIGNALS_2: 8 XXX
- SG_ AUTO_PARK_PARALLEL : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_PARK_PERPENDICULAR_1 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+BO_ 671 AUTO_PARK_REQUEST: 8 XXX
 SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ AUTO_PARK_MAYBE_TURNING : 3|12@0+ (1,0) [0|1023] "" XXX
- SG_ AUTO_PARK_TURNING_STATUS : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_STATUS : 7|5@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_MODE : 22|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUTO_PARK_CMD : 2|11@0+ (1,-1024) [0|1] "NM" XXX

 BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX
 SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX
@@ -262,7 +261,7 @@ BO_ 300 NEW_MSG_12C: 8 XXX

 BO_ 308 ACCEL_GAS_134: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ ACCEL_134 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX

 BO_ 532 ENERGY_RELATED_214: 8 XXX
 SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
@@ -393,10 +392,8 @@ CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right
 CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
 CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking";
 CM_ SG_ 705 INCREASING_UNKNOWN "sometimes decreasing";
-CM_ SG_ 671 AUTO_PARK_PARALLEL "parallel parking mode";
-CM_ SG_ 671 AUTO_PARK_PERPENDICULAR_1 "perpendicular parking mode";
-CM_ SG_ 671 AUTO_PARK_MAYBE_TURNING "something with autopark turning the steering wheel maybe.";
-CM_ SG_ 671 AUTO_PARK_TURNING_STATUS "0 when not steering. when steering starts, 4 for two packets, and then 5 for the rest";
+CM_ SG_ 671 AUTO_PARK_CMD "Request Appears to be in NM";
+CM_ SG_ 671 AUTO_PARK_STATUS "1 = IDLE / NO REQUEST 9 = START REQUEST 10 = REQUEST MODE 11 = REQUEST MODE";
 CM_ SG_ 784 INCREASING_UNKNOWN "perhaps distance traveled";
 CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f";
 CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f";
@@ -413,6 +410,7 @@ CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 415
 CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
 CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
 CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
+CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal";
 CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
 CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
 CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense";
--- a/opendbc/generator/honda/_bosch_2018.dbc
+++ b/opendbc/generator/honda/_bosch_2018.dbc
@@ -33,6 +33,12 @@ NS_ :

 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
@@ -114,15 +120,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" 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
@@ -169,16 +186,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ 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] "" BDY
+ 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
@@ -196,8 +213,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_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

@@ -261,4 +278,8 @@ 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

+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";
+
 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" ;
--- a/opendbc/generator/honda/_dual_can_nidec_2018.dbc
+++ b/opendbc/generator/honda/_dual_can_nidec_2018.dbc
@@ -0,0 +1,215 @@
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" 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|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/generator/honda/_honda_2017.dbc
+++ b/opendbc/generator/honda/_honda_2017.dbc
@@ -56,6 +56,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -85,21 +86,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

@@ -201,6 +205,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -210,6 +215,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc
+++ b/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc
@@ -0,0 +1,111 @@
+CM_ "IMPORT _dual_can_nidec_2018.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 545 ECON_STATUS: 5 XXX
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 927 RADAR_HUD: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
+++ b/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc
@@ -0,0 +1,76 @@
+CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ 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
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-2985|2985] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 XXX
+ SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_STATE : 29|2@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_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
--- a/opendbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -33,7 +33,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -69,6 +69,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -94,7 +95,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -120,6 +130,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -152,7 +174,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -222,6 +267,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -245,6 +293,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
@@ -1,16 +1,16 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"

-BO_ 581 GAS_PEDAL: 5 XXX
- SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
-
-BO_ 550 BRAKE_MODULE: 8 XXX
+BO_ 548 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
 SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
 SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -22,20 +22,16 @@ BO_ 610 EPS_STATUS: 5 EPS
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX

-BO_ 1009 PCM_CRUISE_ISH: 8 XXX
- SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
- SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
-
-BO_ 1599 LIGHT_STALK_ISH: 8 SCM
- SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
-
-CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
-CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
--- a/opendbc/generator/toyota/lexus_is_2018_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_2018_pt.dbc
@@ -11,7 +11,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -25,11 +25,14 @@ BO_ 610 EPS_STATUS: 5 EPS
 BO_ 956 GEAR_PACKET: 8 XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX

-BO_ 1009 PCM_CRUISE_3: 8 XXX
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
 SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
 SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX

+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :

 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
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" 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
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ 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] "" BDY
+ 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
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_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

@@ -265,6 +282,10 @@ 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

+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";
+
 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"
--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :

 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
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" 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
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ 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] "" BDY
+ 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
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_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

@@ -265,6 +282,10 @@ 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

+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";
+
 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"
--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :

 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
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" 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
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ 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] "" BDY
+ 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
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_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

@@ -265,6 +282,10 @@ 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

+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";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -107,21 +108,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :

 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
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" 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
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ 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] "" BDY
+ 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
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_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

@@ -265,6 +282,10 @@ 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

+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";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_crv_ex_2017_can.dbc starts here"
--- a/opendbc/honda_crv_hybrid_2019_can_generated.dbc
+++ b/opendbc/honda_crv_hybrid_2019_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :

 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
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" 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
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ 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] "" BDY
+ 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
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_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

@@ -265,6 +282,10 @@ 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

+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";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_crv_hybrid_2019_can.dbc starts here"
--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -107,21 +108,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -107,21 +108,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/honda_fit_hybrid_2018_can_generated.dbc
+++ b/opendbc/honda_fit_hybrid_2018_can_generated.dbc
@@ -0,0 +1,350 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _dual_can_nidec_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 ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" 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|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_fit_hybrid_2018_can.dbc starts here"
+
+
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 545 ECON_STATUS: 5 XXX
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 927 RADAR_HUD: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_insight_ex_2019_can_generated.dbc
+++ b/opendbc/honda_insight_ex_2019_can_generated.dbc
@@ -37,6 +37,12 @@ NS_ :

 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
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" 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
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON

 BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ 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] "" BDY
+ 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
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_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

@@ -265,6 +282,10 @@ 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

+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";
+
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_insight_ex_2019_can.dbc starts here"
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -107,21 +108,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
+++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
@@ -1,48 +1,67 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _honda_2017.dbc starts here"
 VERSION ""


 NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON INTERCEPTOR
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_

+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON

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

 BO_ 380 POWERTRAIN_DATA: 8 PCM
 SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
@@ -57,6 +76,16 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -79,38 +108,27 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

-BO_ 512 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
-
 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
@@ -184,7 +202,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
 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_ BOH2 : 23|2@0+ (1,0) [0|4] "" 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
@@ -199,6 +217,35 @@ BO_ 892 CRUISE_PARAMS: 8 PCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"
+
+
+
 BO_ 316 GAS_PEDAL: 8 PCM
 SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON

@@ -229,15 +276,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
 SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS

-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
 SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
 SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -274,23 +312,7 @@ 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

-
-
-
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
-CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -107,21 +108,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -107,21 +108,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA

 BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
 SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM

@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/hyundai_kia_generic.dbc
+++ b/opendbc/hyundai_kia_generic.dbc
@@ -961,7 +961,7 @@ BO_ 64 DATC14: 8 DATC
 SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU

 BO_ 832 LKAS11: 8 LDWS_LKAS
- SG_ CF_Lkas_Icon : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
+ SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX,PSB
 SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX,PSB
 SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
 SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
@@ -1421,3 +1421,26 @@ BO_ 512 EMS20: 6 EMS
 SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul"  CLU,CUBIS,FPCM,IBOX
 SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa"  FPCM,IBOX
 SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  FPCM
+
+BO_ 909 FCA11: 8 FCA
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] ""  ESC
+ SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] ""  ESC
+ SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
+ SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] ""  ESC
+ SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g"  ESC
+ SG_ FCA_Status : 18|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
+ SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] ""  ESC
+ SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] ""  CLU,ESC
+ SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] ""  CLU,ESC
+ SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] ""  ESC
+ SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] ""  ACU,CLU,ESC
+ SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] ""  ESC
+ SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] ""  ESC
+
+BO_ 905 SCC14: 8 SCC
+ SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
+ SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
+ SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
+ SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
+ SG_ SCCMode : 32|3@1+ (1,0) [0|7] ""  ESC
+
--- a/opendbc/lexus_ct200h_2018_pt_generated.dbc
+++ b/opendbc/lexus_ct200h_2018_pt_generated.dbc
@@ -0,0 +1,384 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.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
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" 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
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 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_ 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";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_ct200h_2018_pt.dbc starts here"
+
+
+
+BO_ 548 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
--- a/opendbc/lexus_gs300h_2017_pt_generated.dbc
+++ b/opendbc/lexus_gs300h_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
@@ -304,15 +353,19 @@ BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
 SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
 BO_ 705 GAS_PEDAL: 8 XXX
 SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -323,11 +376,14 @@ BO_ 610 EPS_STATUS: 5 EPS
 BO_ 956 GEAR_PACKET: 8 XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX

-BO_ 1009 PCM_CRUISE_3: 8 XXX
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
 SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
 SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX

+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
@@ -308,10 +357,11 @@ BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.00,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
--- a/opendbc/lexus_rx_350_2016_pt_generated.dbc
+++ b/opendbc/lexus_rx_350_2016_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/mazda_cx5_gt_2017.dbc
+++ b/opendbc/mazda_cx5_gt_2017.dbc
@@ -40,21 +40,21 @@ BO_ 117 STEER_RELATED: 8 XXX
 SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_2 : 49|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
 SG_ NEW_SIGNAL_5 : 50|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE : 19|12@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE_2 : 39|16@0+ (1,0) [0|131071] "" XXX
+ SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
+ SG_ STEER_ANGLE_2 : 39|16@0+ (0.1,-1800) [0|131071] "" XXX
+ SG_ STEER_TORQUE : 19|12@0+ (1,-2000) [0|255] "" XXX

 BO_ 118 RPM_RELATED: 8 XXX
 SG_ CTR : 7|8@0+ (1,0) [0|127] "" XXX
 SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX

 BO_ 514 ENGINE_DATA: 8 XXX
- SG_ RPM : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ CHKSUM : 56|8@1+ (1,0) [0|127] "" XXX
- SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "KPH" XXX
- SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (0.002778,0) [0|255] "%" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX
+ SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX
+ SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX

 BO_ 357 PEDALS: 8 XXX
 SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
@@ -71,28 +71,30 @@ BO_ 357 PEDALS: 8 XXX
 SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX

 BO_ 533 WHEEL_SPEEDS: 8 XXX
- SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "" XXX
- SG_ RL : 39|16@0+ (0.01,-100) [0|15] "" XXX
- SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
- SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX
+ SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "kph" XXX
+ SG_ RL : 39|16@0+ (0.01,-100) [0|15] "kph" XXX
+ SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "kph" XXX

 BO_ 134 STEER2: 8 XXX
- SG_ NEW_SIGNAL_2 : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ CTR : 22|4@0+ (1,0) [0|7] "" XXX
 SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_7 : 24|3@1+ (1,0) [0|7] "" XXX
 SG_ CTR_2 : 28|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_ROUGH : 26|11@0+ (1,-1000) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
 SG_ STEER_ANGLE : 7|16@0+ (0.1,-1600) [-500|500] "deg" XXX
- SG_ STEER_ANGLE_ROUGH : 39|8@0- (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|7] "" XXX

 BO_ 576 STEER_TORQUE: 8 XXX
- SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_1 : 20|4@1+ (1,0) [0|255] "" XXX
- SG_ STEER_TORQUE_SENSOR : 7|16@0+ (0.5,-15000) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_TORQUE_MOTOR : 46|20@0- (0.01,0) [-3000|3000] "deg/s" XXX
+ SG_ SENSOR1 : 39|8@0+ (1,-128) [0|127] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 46|15@0- (0.1,0) [-3000|3000] "tbd" XXX
+ SG_ NEW_SIGNAL_2 : 62|4@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|127] "" XXX
+ SG_ STEER_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX

 BO_ 577 STEER_RATE: 8 XXX
 SG_ STEER_ANGLE_RATE : 23|16@0+ (0.25,-8192) [0|1] "deg/s" XXX
@@ -119,6 +121,7 @@ BO_ 605 CAM_PEDESTRIAN: 8 XXX
 SG_ PED_BRAKE : 3|3@0+ (1,0) [0|7] "" XXX
 SG_ RST_CTR : 23|6@0+ (1,0) [0|63] "" XXX
 SG_ S1 : 29|4@0+ (1,0) [0|31] "" XXX
+ SG_ BRAKE_WARNING : 25|1@0+ (1,0) [0|1] "" XXX

 BO_ 578 CAM_LANETRACK: 8 XXX
 SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -132,14 +135,15 @@ BO_ 578 CAM_LANETRACK: 8 XXX
 SG_ LINE1 : 3|10@0+ (1,-686) [0|1] "" XXX

 BO_ 579 CAM_LKAS: 8 XXX
- SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
 SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
 SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
 SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
 SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
 SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX

 BO_ 580 CAM_DISTANCE: 8 XXX
 SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
@@ -170,7 +174,17 @@ BO_ 863 CAM_STATUS: 8 XXX
 SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
 SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX

-BO_ 1157 CAM_Empty2: 8 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
+ SG_ LKAS_SENSETIVITY : 10|1@0+ (1,0) [0|1] "" 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

 BO_ 1160 CAM_Empty3: 8 XXX
 SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
@@ -189,6 +203,8 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
 SG_ BIT1 : 6|1@0+ (1,0) [0|65535] "" XXX
 SG_ LINE_NOT_VISIBLE : 1|1@0+ (1,0) [0|1] "" XXX
 SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
+ SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX

 BO_ 1479 NEW_MSG_470: 8 XXX

@@ -199,7 +215,6 @@ BO_ 1446 NEW_MSG_a600: 8 XXX
 BO_ 1416 MSG_18: 8 XXX

 BO_ 1086 DOORS: 8 XXX
- SG_ DOOR_OPEN : 30|1@0+ (1,0) [0|255] "" XXX
 SG_ LEFTGATE : 32|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_3 : 53|1@0+ (1,0) [0|255] "" XXX
 SG_ KEYFOB_HORN : 2|1@0+ (1,0) [0|1] "" XXX
@@ -211,6 +226,7 @@ BO_ 1086 DOORS: 8 XXX
 SG_ BL : 35|1@0+ (1,0) [0|1] "" XXX
 SG_ FR : 36|1@0+ (1,0) [0|1] "" XXX
 SG_ FL : 37|1@0+ (1,0) [0|255] "" XXX
+ SG_ DOORS_UNLOCKED : 30|1@0+ (1,0) [0|255] "" XXX

 BO_ 977 TWO_STATES: 8 XXX
 SG_ NEW_SIGNAL_1 : 50|1@1+ (1,0) [0|7] "" XXX
@@ -232,6 +248,7 @@ BO_ 1085 MSG_12: 8 XXX

 BO_ 159 MSG_11: 8 XXX
 SG_ NEW_SIGNAL_1 : 50|4@1+ (1,0) [0|15] "" XXX
+ SG_ INCREASEING : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 1278 NEW_MSG_3: 8 XXX
 SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
@@ -247,7 +264,7 @@ BO_ 1277 NEW_MSG_10: 8 XXX
 SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
 SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX

-BO_ 1275 MSG_2017_5: 8 XXX
+BO_ 1275 2017_5: 8 XXX
 SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX

 BO_ 1274 NEW_MSG_12: 8 XXX
@@ -266,15 +283,18 @@ BO_ 1078 HVAC: 8 XXX
 SG_ NEW_SIGNAL_3 : 23|1@0+ (1,0) [0|65535] "" XXX
 SG_ NEW_SIGNAL_4 : 56|5@0+ (1,0) [0|255] "" XXX

-BO_ 1056 NEW_MSG_13: 8 XXX
- SG_ BIG_COUNTER_MAYBE : 55|16@0+ (1,0) [0|255] "" XXX
+BO_ 1056 CHECK_AND_TEMP: 8 XXX
 SG_ NEW_SIGNAL_1 : 29|6@0+ (1,0) [0|255] "" XXX
 SG_ counter_or_GEAR : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ INCREASING : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ CTR : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ STANDSTILL : 32|1@0+ (1,0) [0|255] "" XXX
+ SG_ COOLANT_TEMP : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LOW_ENGINE_OIL_PRESSURE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECK_FUEL_CAP : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHARGING_SYSTEM_MALFUNCTION : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ OUTDOOR_TEMP : 63|8@0+ (0.25,-63) [0|255] "cel" XXX

-BO_ 1045 MOVING: 8 XXX
+BO_ 1045 TRACTION: 8 XXX
 SG_ NEW_SIGNAL_2 : 20|1@0+ (1,0) [0|3] "" XXX
 SG_ CTR2 : 19|4@0+ (1,0) [0|31] "" XXX
 SG_ CTR3 : 8|4@1+ (1,0) [0|15] "" XXX
@@ -282,6 +302,12 @@ BO_ 1045 MOVING: 8 XXX
 SG_ CTR1 : 53|6@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 54|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_WARNING : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ ABS_MALFUNCTION : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ DSC_OFF : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ TCS_DCS_MALFUNCTION : 6|2@0+ (1,0) [0|3] "" XXX
+ SG_ LOUD_BEEP : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ TPMS_WARNING_DOUBLE_BLINK : 31|1@0+ (1,0) [0|1] "" XXX

 BO_ 1034 MSG_07: 8 XXX
 SG_ NEW_SIGNAL_1 : 6|3@0+ (1,0) [0|3] "" XXX
@@ -315,17 +341,17 @@ BO_ 867 NEW_MSG_17: 8 XXX
 BO_ 130 STEER: 8 XXX
 SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR_2 : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 47|4@0+ (1,0) [0|255] "" XXX
 SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [500|-500] "deg" XXX
+ SG_ CHKSUM_MAYBE : 39|8@0+ (1,0) [0|255] "" XXX

-BO_ 120 NEW_MSG_18: 8 XXX
+BO_ 120 BRAKE: 8 XXX
 SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
 SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSURE : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 304 GEAR_RELATED: 8 XXX
 SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
@@ -397,22 +423,24 @@ BO_ 154 BLINK_INFO: 8 XXX
 SG_ REAR_WIPER_ON : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ WIPER_LO : 33|1@1+ (1,0) [0|31] "" XXX
 SG_ WIPER_HI : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAMS : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAMS : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LBEAM1 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ LBEAM2 : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ LBEAM3 : 60|1@0+ (1,0) [0|1] "" XXX

 BO_ 145 TURN_SWITCH: 8 XXX
- SG_ NEW_SIGNAL_1 : 37|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 36|1@0+ (1,0) [0|3] "" XXX
- SG_ TURN : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
- SG_ TURN_RIGHT_SWITCH : 12|1@1+ (1,0) [0|3] "" XXX
 SG_ HAZARD : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_RIGHT_SWITCH : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
 SG_ CTR : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX

 BO_ 80 MSG_04: 8 XXX
 SG_ NEW_SIGNAL_1 : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ SIGNAL : 24|1@0+ (1,0) [0|1] "" XXX

 BO_ 978 MSG_03: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
@@ -420,6 +448,7 @@ BO_ 978 MSG_03: 8 XXX
 SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 1|2@0+ (1,0) [0|255] "" XXX

 BO_ 607 NEW_MSG_25: 8 XXX

@@ -539,6 +568,8 @@ BO_ 540 CRZ_CTRL: 8 XXX
 SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
 SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
 SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX

 BO_ 539 CRZ_INFO: 8 XXX
 SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
@@ -546,10 +577,10 @@ BO_ 539 CRZ_INFO: 8 XXX
 SG_ NEW_SIGNAL_5 : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX
 SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 37|1@0+ (1,0) [0|255] "" XXX
 SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_CMD : 31|10@0- (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 121 EPB: 8 XXX
 SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
@@ -565,30 +596,30 @@ BO_ 121 EPB: 8 XXX
 SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX
 SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX

-BO_ 1070 MSG_2017_1: 8 XXX
+BO_ 1070 2017_1: 8 XXX

-BO_ 1183 MSG_2017_2: 8 XXX
+BO_ 1183 2017_2: 8 XXX

-BO_ 1243 MSG_2017_3: 8 XXX
+BO_ 1243 2017_3: 8 XXX
 SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX

 BO_ 1269 MSG_2017_4: 8 XXX
 SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX

-BO_ 1178 MSG_2017_6: 8 XXX
+BO_ 1178 2017_6: 8 XXX
 SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX

-BO_ 1179 MSG_2017_7: 8 XXX
+BO_ 1179 2017_7: 8 XXX
 SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX

-BO_ 1435 MSG_2017_8: 8 XXX
+BO_ 1435 2017_8: 8 XXX

 BO_ 253 NEW_MSG_7: 8 XXX
 SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
 SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 61|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX

 BO_ 359 NEW_MSG_11: 8 XXX
 SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
@@ -614,8 +645,10 @@ BO_ 512 NEW_MSG_30: 8 XXX
 SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 515 MSG_01: 8 XXX
- SG_ CTR : 39|8@0+ (1,0) [0|65535] "" XXX
- SG_ CTR_2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 39|4@0+ (1,0) [0|65535] "" XXX
+ SG_ CHKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ START1 : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ START2 : 28|5@0+ (1,0) [0|255] "" XXX

 BO_ 529 NEW_MSG_36: 8 XXX
 SG_ NEW_SIGNAL_1 : 22|5@0+ (1,0) [0|65535] "" XXX
@@ -684,11 +717,44 @@ BO_ 1272 MSG_17: 8 XXX

 BO_ 1425 MSG_19: 8 XXX

+BO_ 70 MOB1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 1|3@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 14|6@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 30|6@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 38|6@0+ (1,0) [0|7] "" XXX
+
+BO_ 64 MOB2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 10|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_7 : 13|3@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_8 : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_9 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_10 : 31|6@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_11 : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1171 MOB3: 8 XXX
+
+BO_ 1248 MOB4: 8 XXX
+



 CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
+CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision";
+CM_ SG_ 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";
+CM_ SG_ 1157 LKAS_SENSETIVITY "0 low, 1 high";
+CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on";
+CM_ SG_ 1157 WARNING "1 Rare, 0 often";
 CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
+CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
 CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled  TURN it OFF ";
 CM_ SG_ 552 GEAR "0 P/N, 12 R, 2 D M1, 4 M2, 14 Shift";
 CM_ SG_ 552 MORE_GEAR "";
+CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
--- a/opendbc/subaru_crosstrek_2018.dbc
+++ b/opendbc/subaru_crosstrek_2018.dbc
@@ -0,0 +1,369 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
+
+BO_ 64 Throttle: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
+
+BO_ 65 NEW_MSG_1: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
+
+BO_ 72 NEW_MSG_2: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 316 NEW_MSG_3: 8 XXX
+
+BO_ 326 Cruise_Buttons: 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|30@1+ (1,0) [0|1073741823] "" XXX
+ SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
+
+BO_ 315 G_Sensor: 8 XXX
+ SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
+
+BO_ 314 Wheel_Speeds: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
+
+BO_ 73 NEW_MSG_5: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
+
+BO_ 280 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
+
+BO_ 281 Steering_Torque: 8 XXX
+ SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
+ SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
+ SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
+
+BO_ 312 Brake_Pressure_L_R: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 313 Brake_Pedal: 8 XXX
+ SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
+
+BO_ 290 ES_LKAS: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
+ SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
+ SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 722 NEW_MSG_10: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 544 ES_Brake: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
+ SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
+
+BO_ 545 ES_Distance: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
+ SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
+ SG_ ACC_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_Set : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_Resume : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 59|5@1+ (1,0) [0|1] "" XXX
+
+BO_ 546 ES_Status: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 554 ES_Blank: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
+ SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 557 NEW_MSG_14: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 576 CruiseControl: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 577 NEW_MSG_16: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
+
+BO_ 552 NEW_MSG_17: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 912 Dashlights: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 940 BodyInfo: 8 XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
+ SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 801 ES_DashStatus: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_Hold : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 802 ES_LKAS_State: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
+ SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_In_Front_Has_Moved : 35|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 805 ES_NEW_MSG_22: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 808 NEW_MSG_23: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 837 NEW_MSG_24: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 838 NEW_MSG_25: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 842 NEW_MSG_26: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 915 NEW_MSG_27: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
+
+BO_ 1788 NEW_MSG_28: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 816 NEW_MSG_29: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 826 NEW_MSG_30: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 839 NEW_MSG_31: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 2015 NEW_MSG_32: 8 XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 2024 NEW_MSG_33: 8 XXX
+ SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1614 NEW_MSG_34: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1617 NEW_MSG_35: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1632 NEW_MSG_36: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1650 NEW_MSG_37: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1657 NEW_MSG_38: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1658 NEW_MSG_39: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 1677 Dash_State: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 1743 NEW_MSG_41: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1785 NEW_MSG_42: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 1759 NEW_MSG_43: 8 XXX
+ SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 1786 NEW_MSG_44: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 1787 NEW_MSG_45: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+
+
+
+
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 801 ACC_Hold "0 = No Hold, 3 = Hold";
+CM_ SG_ 802 Vehicle_In_Front_Has_Moved "Crosstrek 2018 = car in front has moved";
+CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
+CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
+CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
--- a/opendbc/subaru_global_2017.dbc
+++ b/opendbc/subaru_global_2017.dbc
@@ -43,14 +43,16 @@ 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|255] "" XXX
 SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
 SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
-
+ SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX

 BO_ 65 NEW_MSG_1: 8 XXX
 SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
@@ -358,6 +360,7 @@ BO_ 1787 NEW_MSG_45: 8 XXX

 CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
 CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
 CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
 CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
--- a/opendbc/toyota_2017_ref_pt.dbc
+++ b/opendbc/toyota_2017_ref_pt.dbc
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/opendbc/toyota_sienna_xle_2018_pt_generated.dbc
@@ -67,7 +67,7 @@ NS_ :

 BS_:

-BU_: XXX DSU HCU EPS IPAS
+BU_: XXX DSU HCU EPS IPAS CGW

 BO_ 36 KINEMATICS: 8 XXX
 SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 740 STEERING_LKA: 5 XXX
 SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
 SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -186,7 +208,30 @@ BO_ 1042 LKAS_HUD: 8 XXX
 SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

-BO_ 1553 UI_SEETING: 8 XXX
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 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_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 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";
--- a/panda/.circleci/config.yml
+++ b/panda/.circleci/config.yml
@@ -32,13 +32,6 @@ jobs:
      - store_artifacts:
          name: Store misra test output
          path: /tmp/misra/misra_output.txt
-      - store_artifacts:
-          name: Store cppcheck safety test output
-          path: /tmp/misra/cppcheck_safety_output.txt
-      - store_artifacts:
-          name: Store misra safety test output
-          path: /tmp/misra/misra_safety_output.txt
-

  build:
    machine:
--- a/panda/.gitignore
+++ b/panda/.gitignore
@@ -4,6 +4,7 @@
 *.o
 *.so
 *.d
+*.dump
 a.out
 *~
 .#*
@@ -12,4 +13,5 @@ pandacan.egg-info/
 board/obj/
 examples/output.csv
 .DS_Store
+.vscode
 nosetests.xml
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.4.1
+v1.4.7
--- a/panda/board/board.h
+++ b/panda/board/board.h
@@ -0,0 +1,65 @@
+// ///////////////////////////////////////////////////////////// //
+// Hardware abstraction layer for all different supported boards //
+// ///////////////////////////////////////////////////////////// //
+#include "board_declarations.h"
+#include "boards/common.h"
+
+// ///// Board definition and detection ///// //
+#include "drivers/harness.h"
+#ifdef PANDA
+  #include "boards/white.h"
+  #include "boards/grey.h"
+  #include "boards/black.h"
+#else
+  #include "boards/pedal.h"
+#endif
+
+void detect_board_type(void) {
+  #ifdef PANDA
+    // SPI lines floating: white (TODO: is this reliable?)
+    if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
+      hw_type = HW_TYPE_WHITE_PANDA;
+      current_board = &board_white;
+    } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
+      hw_type = HW_TYPE_GREY_PANDA;
+      current_board = &board_grey;
+    } else {
+      hw_type = HW_TYPE_BLACK_PANDA;
+      current_board = &board_black;
+    }
+  #else
+    #ifdef PEDAL
+      hw_type = HW_TYPE_PEDAL;
+      current_board = &board_pedal;
+    #else 
+      hw_type = HW_TYPE_UNKNOWN;
+      puts("Hardware type is UNKNOWN!\n");
+    #endif
+  #endif
+}
+
+
+// ///// Configuration detection ///// //
+bool has_external_debug_serial = 0;
+bool is_entering_bootmode = 0;
+
+void detect_configuration(void) {
+  // detect if external serial debugging is present
+  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
+
+  #ifdef PANDA
+    if(hw_type == HW_TYPE_WHITE_PANDA) {
+      // check if the ESP is trying to put me in boot mode
+      is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
+    } else {
+      is_entering_bootmode = 0;
+    }
+  #else
+    is_entering_bootmode = 0;
+  #endif
+}
+
+// ///// Board functions ///// //
+bool board_has_gps(void) {
+  return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA));
+}
--- a/panda/board/board_declarations.h
+++ b/panda/board/board_declarations.h
@@ -0,0 +1,57 @@
+// ******************** Prototypes ********************
+typedef void (*board_init)(void);
+typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
+typedef void (*board_enable_can_transcievers)(bool enabled);
+typedef void (*board_set_led)(uint8_t color, bool enabled);
+typedef void (*board_set_usb_power_mode)(uint8_t mode);
+typedef void (*board_set_esp_gps_mode)(uint8_t mode);
+typedef void (*board_set_can_mode)(uint8_t mode);
+typedef void (*board_usb_power_mode_tick)(uint64_t tcnt);
+typedef bool (*board_check_ignition)(void);
+
+struct board {
+  const char *board_type;
+  const harness_configuration *harness_config;
+  board_init init;
+  board_enable_can_transciever enable_can_transciever;
+  board_enable_can_transcievers enable_can_transcievers;
+  board_set_led set_led;
+  board_set_usb_power_mode set_usb_power_mode;
+  board_set_esp_gps_mode set_esp_gps_mode;
+  board_set_can_mode set_can_mode;
+  board_usb_power_mode_tick usb_power_mode_tick;
+  board_check_ignition check_ignition;
+};
+
+// ******************* Definitions ********************
+// These should match the enums in cereal/log.capnp and __init__.py
+#define HW_TYPE_UNKNOWN 0U
+#define HW_TYPE_WHITE_PANDA 1U
+#define HW_TYPE_GREY_PANDA 2U
+#define HW_TYPE_BLACK_PANDA 3U
+#define HW_TYPE_PEDAL 4U
+
+// LED colors
+#define LED_RED 0U
+#define LED_GREEN 1U
+#define LED_BLUE 2U
+
+// USB power modes
+#define USB_POWER_NONE 0U
+#define USB_POWER_CLIENT 1U
+#define USB_POWER_CDP 2U
+#define USB_POWER_DCP 3U
+
+// ESP modes
+#define ESP_GPS_DISABLED 0U
+#define ESP_GPS_ENABLED 1U
+#define ESP_GPS_BOOTMODE 2U
+
+// CAN modes
+#define CAN_MODE_NORMAL 0U
+#define CAN_MODE_GMLAN_CAN2 1U
+#define CAN_MODE_GMLAN_CAN3 2U
+#define CAN_MODE_OBD_CAN2 3U
+
+// ********************* Globals **********************
+uint8_t usb_power_mode = USB_POWER_NONE;
--- a/panda/board/boards/black.h
+++ b/panda/board/boards/black.h
@@ -0,0 +1,206 @@
+// ///////////////////// //
+// Black Panda + Harness //
+// ///////////////////// //
+
+void black_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    case 1U:
+      set_gpio_output(GPIOC, 1, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOC, 13, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOA, 0, !enabled);
+      break;
+    case 4U:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void black_enable_can_transcievers(bool enabled) {
+  for(uint8_t i=1U; i<=4U; i++){
+    black_enable_can_transciever(i, enabled);
+  }
+}
+
+void black_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOC, 9, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOC, 7, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOC, 6, !enabled);
+      break;  
+    default:
+      break;
+  }
+}
+
+void black_set_gps_load_switch(bool enabled) {
+  set_gpio_output(GPIOC, 12, enabled);
+}
+
+void black_set_usb_load_switch(bool enabled) {
+  set_gpio_output(GPIOB, 1, !enabled);
+}
+
+void black_set_usb_power_mode(uint8_t mode) {
+  usb_power_mode = mode;
+  if (mode == USB_POWER_NONE) {
+    black_set_usb_load_switch(false);
+  } else {
+    black_set_usb_load_switch(true);
+  }
+}
+
+void black_set_esp_gps_mode(uint8_t mode) {
+  switch (mode) {
+    case ESP_GPS_DISABLED:
+      // GPS OFF
+      set_gpio_output(GPIOC, 14, 0);
+      set_gpio_output(GPIOC, 5, 0);
+      black_set_gps_load_switch(false);
+      break;
+    case ESP_GPS_ENABLED:
+      // GPS ON
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 1);
+      black_set_gps_load_switch(true);
+      break;
+    case ESP_GPS_BOOTMODE:
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 0);
+      black_set_gps_load_switch(true);
+      break;
+    default:
+      puts("Invalid ESP/GPS mode\n");
+      break;
+  }
+}
+
+void black_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+    case CAN_MODE_OBD_CAN2:
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
+        // B12,B13: disable OBD mode
+        set_gpio_mode(GPIOB, 12, MODE_INPUT);
+        set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+        // B5,B6: normal CAN2 mode
+        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+      } else {
+        // B5,B6: disable normal CAN2 mode
+        set_gpio_mode(GPIOB, 5, MODE_INPUT);
+        set_gpio_mode(GPIOB, 6, MODE_INPUT);
+
+        // B12,B13: OBD mode
+        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+      }      
+      break;
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+void black_usb_power_mode_tick(uint64_t tcnt){
+  UNUSED(tcnt);
+  // Not applicable
+}
+
+bool black_check_ignition(void){
+  // ignition is checked through harness
+  return harness_check_ignition();
+}
+
+void black_init(void) {
+  common_init_gpio();
+
+  // A8,A15: normal CAN3 mode
+  set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+  set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
+
+  // C0: OBD_SBU1 (orientation detection)
+  // C3: OBD_SBU2 (orientation detection)
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
+
+  // C10: OBD_SBU1_RELAY (harness relay driving output)
+  // C11: OBD_SBU2_RELAY (harness relay driving output)
+  set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
+  set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
+  set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
+  set_gpio_output(GPIOC, 10, 1);
+  set_gpio_output(GPIOC, 11, 1);
+
+  // C8: FAN aka TIM3_CH3
+  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
+
+  // Turn on GPS load switch.
+  black_set_gps_load_switch(true);
+
+  // Turn on USB load switch.
+  black_set_usb_load_switch(true);
+
+  // Initialize harness
+  harness_init();
+
+  // Enable CAN transcievers
+  black_enable_can_transcievers(true);
+
+  // Disable LEDs
+  black_set_led(LED_RED, false);
+  black_set_led(LED_GREEN, false);
+  black_set_led(LED_BLUE, false);
+
+  // Set normal CAN mode
+  black_set_can_mode(CAN_MODE_NORMAL);
+
+  // flip CAN0 and CAN2 if we are flipped
+  if (car_harness_status == HARNESS_STATUS_NORMAL) {
+    can_flip_buses(0, 2);
+  }
+
+  // init multiplexer
+  can_set_obd(car_harness_status, false);
+}
+
+const harness_configuration black_harness_config = {
+  .has_harness = true,
+  .GPIO_SBU1 = GPIOC,
+  .GPIO_SBU2 = GPIOC,
+  .GPIO_relay_normal = GPIOC,
+  .GPIO_relay_flipped = GPIOC,
+  .pin_SBU1 = 0,
+  .pin_SBU2 = 3,
+  .pin_relay_normal = 10,
+  .pin_relay_flipped = 11,
+  .adc_channel_SBU1 = 10,
+  .adc_channel_SBU2 = 13
+};
+
+const board board_black = {
+  .board_type = "Black",
+  .harness_config = &black_harness_config,
+  .init = black_init,
+  .enable_can_transciever = black_enable_can_transciever,
+  .enable_can_transcievers = black_enable_can_transcievers,
+  .set_led = black_set_led,
+  .set_usb_power_mode = black_set_usb_power_mode,
+  .set_esp_gps_mode = black_set_esp_gps_mode,
+  .set_can_mode = black_set_can_mode,
+  .usb_power_mode_tick = black_usb_power_mode_tick,
+  .check_ignition = black_check_ignition
+};
--- a/panda/board/boards/common.h
+++ b/panda/board/boards/common.h
@@ -0,0 +1,82 @@
+#ifdef STM32F4
+  #include "stm32f4xx_hal_gpio_ex.h"
+#else
+  #include "stm32f2xx_hal_gpio_ex.h"
+#endif
+
+// Common GPIO initialization
+void common_init_gpio(void){
+  // TODO: Is this block actually doing something???
+  // pull low to hold ESP in reset??
+  // enable OTG out tied to ground
+  GPIOA->ODR = 0;
+  GPIOB->ODR = 0;
+  GPIOA->PUPDR = 0;
+  GPIOB->AFR[0] = 0;
+  GPIOB->AFR[1] = 0;
+
+  // C2: Voltage sense line
+  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
+
+  // A11,A12: USB
+  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
+  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
+  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
+
+  // A9,A10: USART 1 for talking to the ESP / GPS
+  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
+  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
+
+   // B8,B9: CAN 1
+  #ifdef STM32F4
+    set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
+    set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
+  #else
+    set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
+    set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
+  #endif
+}
+
+// Peripheral initialization
+void peripherals_init(void){
+  // enable GPIOB, UART2, CAN, USB clock
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
+
+  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
+  #ifdef PANDA
+    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
+  #ifdef CAN3
+    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
+  #endif
+  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
+  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
+  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
+  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
+  //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
+  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
+  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
+  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
+}
+
+// Detection with internal pullup
+#define PULL_EFFECTIVE_DELAY 10
+bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
+  set_gpio_mode(GPIO, pin, MODE_INPUT);
+  set_gpio_pullup(GPIO, pin, mode);
+  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
+  bool ret = get_gpio_input(GPIO, pin);
+  set_gpio_pullup(GPIO, pin, PULL_NONE);
+  return ret;
+}
--- a/panda/board/boards/grey.h
+++ b/panda/board/boards/grey.h
@@ -0,0 +1,18 @@
+// ////////// //
+// Grey Panda //
+// ////////// //
+
+// Most hardware functionality is similar to white panda
+const board board_grey = {
+  .board_type = "Grey",
+  .harness_config = &white_harness_config,
+  .init = white_init,
+  .enable_can_transciever = white_enable_can_transciever,
+  .enable_can_transcievers = white_enable_can_transcievers,
+  .set_led = white_set_led,
+  .set_usb_power_mode = white_set_usb_power_mode,
+  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_can_mode = white_set_can_mode,
+  .usb_power_mode_tick = white_usb_power_mode_tick,
+  .check_ignition = white_check_ignition
+};
--- a/panda/board/boards/pedal.h
+++ b/panda/board/boards/pedal.h
@@ -0,0 +1,96 @@
+// ///// //
+// Pedal //
+// ///// //
+
+void pedal_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    case 1:
+      set_gpio_output(GPIOB, 3, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void pedal_enable_can_transcievers(bool enabled) {
+  pedal_enable_can_transciever(1U, enabled);
+}
+
+void pedal_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOB, 10, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOB, 11, !enabled);
+      break;
+    default:
+      break;
+  }
+}
+
+void pedal_set_usb_power_mode(uint8_t mode){
+  usb_power_mode = mode;
+  puts("Trying to set USB power mode on pedal. This is not supported.\n");
+}
+
+void pedal_set_esp_gps_mode(uint8_t mode) {
+  UNUSED(mode);
+  puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
+}
+
+void pedal_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+      break;
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+void pedal_usb_power_mode_tick(uint64_t tcnt){
+  UNUSED(tcnt);
+  // Not applicable
+}
+
+bool pedal_check_ignition(void){
+  // not supported on pedal
+  return false;
+}
+
+void pedal_init(void) {
+  common_init_gpio();
+
+  // C0, C1: Throttle inputs
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 1, MODE_ANALOG);
+  // DAC outputs on A4 and A5
+  //   apparently they don't need GPIO setup
+
+  // Enable transciever
+  pedal_enable_can_transcievers(true);
+
+  // Disable LEDs
+  pedal_set_led(LED_RED, false);
+  pedal_set_led(LED_GREEN, false);
+}
+
+const harness_configuration pedal_harness_config = {
+  .has_harness = false
+};
+
+const board board_pedal = {
+  .board_type = "Pedal",
+  .harness_config = &pedal_harness_config,
+  .init = pedal_init,
+  .enable_can_transciever = pedal_enable_can_transciever,
+  .enable_can_transcievers = pedal_enable_can_transcievers,
+  .set_led = pedal_set_led,
+  .set_usb_power_mode = pedal_set_usb_power_mode,
+  .set_esp_gps_mode = pedal_set_esp_gps_mode,
+  .set_can_mode = pedal_set_can_mode,
+  .usb_power_mode_tick = pedal_usb_power_mode_tick,
+  .check_ignition = pedal_check_ignition,
+};
--- a/panda/board/boards/white.h
+++ b/panda/board/boards/white.h
@@ -0,0 +1,313 @@
+// /////////// //
+// White Panda //
+// /////////// //
+
+void white_enable_can_transciever(uint8_t transciever, bool enabled) {
+  switch (transciever){
+    case 1U:
+      set_gpio_output(GPIOC, 1, !enabled);
+      break;
+    case 2U:
+      set_gpio_output(GPIOC, 13, !enabled);
+      break;
+    case 3U:
+      set_gpio_output(GPIOA, 0, !enabled);
+      break;
+    default:
+      puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
+      break;
+  }
+}
+
+void white_enable_can_transcievers(bool enabled) {
+  for(uint8_t i=1; i<=3U; i++)
+    white_enable_can_transciever(i, enabled);
+}
+
+void white_set_led(uint8_t color, bool enabled) {
+  switch (color){
+    case LED_RED:
+      set_gpio_output(GPIOC, 9, !enabled);
+      break;
+     case LED_GREEN:
+      set_gpio_output(GPIOC, 7, !enabled);
+      break;
+    case LED_BLUE:
+      set_gpio_output(GPIOC, 6, !enabled);
+      break;  
+    default:
+      break;
+  }
+}
+
+void white_set_usb_power_mode(uint8_t mode){
+  bool valid_mode = true;
+  switch (mode) {
+    case USB_POWER_CLIENT:
+      // B2,A13: set client mode
+      set_gpio_output(GPIOB, 2, 0);
+      set_gpio_output(GPIOA, 13, 1);
+      break;
+    case USB_POWER_CDP:
+      // B2,A13: set CDP mode
+      set_gpio_output(GPIOB, 2, 1);
+      set_gpio_output(GPIOA, 13, 1);
+      break;
+    case USB_POWER_DCP:
+      // B2,A13: set DCP mode on the charger (breaks USB!)
+      set_gpio_output(GPIOB, 2, 0);
+      set_gpio_output(GPIOA, 13, 0);
+      break;
+    default:
+      valid_mode = false;
+      puts("Invalid usb power mode\n");
+      break;
+  }
+
+  if (valid_mode) {
+    usb_power_mode = mode;
+  }
+}
+
+void white_set_esp_gps_mode(uint8_t mode) {
+  switch (mode) {
+    case ESP_GPS_DISABLED:
+      // ESP OFF
+      set_gpio_output(GPIOC, 14, 0);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    case ESP_GPS_ENABLED:
+      // ESP ON
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 1);
+      break;
+    case ESP_GPS_BOOTMODE:
+      set_gpio_output(GPIOC, 14, 1);
+      set_gpio_output(GPIOC, 5, 0);
+      break;
+    default:
+      puts("Invalid ESP/GPS mode\n");
+      break;
+  }
+}
+
+void white_set_can_mode(uint8_t mode){
+  switch (mode) {
+    case CAN_MODE_NORMAL:
+      // B12,B13: disable GMLAN mode
+      set_gpio_mode(GPIOB, 12, MODE_INPUT);
+      set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+      // B3,B4: disable GMLAN mode
+      set_gpio_mode(GPIOB, 3, MODE_INPUT);
+      set_gpio_mode(GPIOB, 4, MODE_INPUT);
+
+      // B5,B6: normal CAN2 mode
+      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+
+      // A8,A15: normal CAN3 mode
+      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
+      break;
+    case CAN_MODE_GMLAN_CAN2:
+      // B5,B6: disable CAN2 mode
+      set_gpio_mode(GPIOB, 5, MODE_INPUT);
+      set_gpio_mode(GPIOB, 6, MODE_INPUT);
+
+      // B3,B4: disable GMLAN mode
+      set_gpio_mode(GPIOB, 3, MODE_INPUT);
+      set_gpio_mode(GPIOB, 4, MODE_INPUT);
+
+      // B12,B13: GMLAN mode
+      set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+
+      // A8,A15: normal CAN3 mode
+      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);   
+      break;
+    case CAN_MODE_GMLAN_CAN3:
+      // A8,A15: disable CAN3 mode
+      set_gpio_mode(GPIOA, 8, MODE_INPUT);
+      set_gpio_mode(GPIOA, 15, MODE_INPUT);
+
+      // B12,B13: disable GMLAN mode
+      set_gpio_mode(GPIOB, 12, MODE_INPUT);
+      set_gpio_mode(GPIOB, 13, MODE_INPUT);
+
+      // B3,B4: GMLAN mode
+      set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
+      set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
+
+      // B5,B6: normal CAN2 mode
+      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+      break;  
+    default:
+      puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
+      break;
+  }
+}
+
+uint64_t marker = 0;
+void white_usb_power_mode_tick(uint64_t tcnt){
+  #ifndef BOOTSTUB
+  #define CURRENT_THRESHOLD 0xF00U
+  #define CLICKS 5U // 5 seconds to switch modes
+
+  uint32_t current = adc_get(ADCCHAN_CURRENT);
+
+  // ~0x9a = 500 ma
+  // puth(current); puts("\n");
+
+  switch (usb_power_mode) {
+    case USB_POWER_CLIENT:
+      if ((tcnt - marker) >= CLICKS) {
+        if (!is_enumerated) {
+          puts("USBP: didn't enumerate, switching to CDP mode\n");
+          // switch to CDP
+          white_set_usb_power_mode(USB_POWER_CDP);
+          marker = tcnt;
+        }
+      }
+      // keep resetting the timer if it's enumerated
+      if (is_enumerated) {
+        marker = tcnt;
+      }
+      break;
+    case USB_POWER_CDP:
+      // On the EON, if we get into CDP mode we stay here. No need to go to DCP.
+      #ifndef EON
+        // been CLICKS clicks since we switched to CDP
+        if ((tcnt-marker) >= CLICKS) {
+          // measure current draw, if positive and no enumeration, switch to DCP
+          if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
+            puts("USBP: no enumeration with current draw, switching to DCP mode\n");
+            white_set_usb_power_mode(USB_POWER_DCP);
+            marker = tcnt;
+          }
+        }
+        // keep resetting the timer if there's no current draw in CDP
+        if (current >= CURRENT_THRESHOLD) {
+          marker = tcnt;
+        }
+      #endif
+      break;
+    case USB_POWER_DCP:
+      // been at least CLICKS clicks since we switched to DCP
+      if ((tcnt-marker) >= CLICKS) {
+        // if no current draw, switch back to CDP
+        if (current >= CURRENT_THRESHOLD) {
+          puts("USBP: no current draw, switching back to CDP mode\n");
+          white_set_usb_power_mode(USB_POWER_CDP);
+          marker = tcnt;
+        }
+      }
+      // keep resetting the timer if there's current draw in DCP
+      if (current < CURRENT_THRESHOLD) {
+        marker = tcnt;
+      }
+      break;
+    default:
+      puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
+      break;
+  }
+  #else
+  UNUSED(tcnt);
+  #endif
+}
+
+bool white_check_ignition(void){
+  // ignition is on PA1
+  return !get_gpio_input(GPIOA, 1);
+}
+
+void white_init(void) {
+  common_init_gpio();
+
+  // C3: current sense
+  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
+
+  // A1: started_alt
+  set_gpio_pullup(GPIOA, 1, PULL_UP);
+
+  // A2, A3: USART 2 for debugging
+  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
+  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
+
+  // A4, A5, A6, A7: SPI
+  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
+  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
+
+  // Set USB power mode
+  white_set_usb_power_mode(USB_POWER_CLIENT);
+
+  // B12: GMLAN, ignition sense, pull up
+  set_gpio_pullup(GPIOB, 12, PULL_UP);
+
+  /* GMLAN mode pins:
+      M0(B15)  M1(B14)  mode
+      =======================
+      0        0        sleep
+      1        0        100kbit
+      0        1        high voltage wakeup
+      1        1        33kbit (normal)
+  */
+  set_gpio_output(GPIOB, 14, 1);
+  set_gpio_output(GPIOB, 15, 1);
+
+  // B7: K-line enable
+  set_gpio_output(GPIOB, 7, 1);
+
+  // C12, D2: Setup K-line (UART5)
+  set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
+  set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
+  set_gpio_pullup(GPIOD, 2, PULL_UP);
+
+  // L-line enable
+  set_gpio_output(GPIOA, 14, 1);
+
+  // C10, C11: L-Line setup (USART3)
+  set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
+  set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
+  set_gpio_pullup(GPIOC, 11, PULL_UP);
+
+  // Enable CAN transcievers
+  white_enable_can_transcievers(true);
+
+  // Disable LEDs
+  white_set_led(LED_RED, false);
+  white_set_led(LED_GREEN, false);
+  white_set_led(LED_BLUE, false);
+
+  // Set normal CAN mode
+  white_set_can_mode(CAN_MODE_NORMAL);
+
+  // Setup ignition interrupts
+  SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
+  EXTI->IMR |= (1U << 1);
+  EXTI->RTSR |= (1U << 1);
+  EXTI->FTSR |= (1U << 1);
+  NVIC_EnableIRQ(EXTI1_IRQn);
+}
+
+const harness_configuration white_harness_config = {
+  .has_harness = false
+};
+
+const board board_white = {
+  .board_type = "White",
+  .harness_config = &white_harness_config,
+  .init = white_init,
+  .enable_can_transciever = white_enable_can_transciever,
+  .enable_can_transcievers = white_enable_can_transcievers,
+  .set_led = white_set_led,
+  .set_usb_power_mode = white_set_usb_power_mode,
+  .set_esp_gps_mode = white_set_esp_gps_mode,
+  .set_can_mode = white_set_can_mode,
+  .usb_power_mode_tick = white_usb_power_mode_tick,
+  .check_ignition = white_check_ignition
+};
--- a/panda/board/bootstub.c
+++ b/panda/board/bootstub.c
@@ -12,20 +12,29 @@
  #include "stm32f2xx_hal_gpio_ex.h"
 #endif

-// default since there's no serial
-void puts(const char *a) {
-  UNUSED(a);
-}
+// ******************** Prototypes ********************
+void puts(const char *a){ UNUSED(a); }
+void puth(unsigned int i){ UNUSED(i); }
+void puth2(unsigned int i){ UNUSED(i); }
+typedef struct board board;
+typedef struct harness_configuration harness_configuration;
+// No CAN support on bootloader
+void can_flip_buses(uint8_t bus1, uint8_t bus2){UNUSED(bus1); UNUSED(bus2);}
+void can_set_obd(int harness_orientation, bool obd){UNUSED(harness_orientation); UNUSED(obd);}

-void puth(unsigned int i) {
-  UNUSED(i);
-}
+// ********************* Globals **********************
+int hw_type = 0;
+const board *current_board;

+// ********************* Includes *********************
 #include "libc.h"
 #include "provision.h"

 #include "drivers/clock.h"
 #include "drivers/llgpio.h"
+
+#include "board.h"
+
 #include "gpio.h"

 #include "drivers/spi.h"
@@ -54,13 +63,12 @@ extern void *_app_start[];
 // BOUNTY: $200 coupon on shop.comma.ai or $100 check.

 int main(void) {
-  __disable_irq();
+  disable_interrupts();
  clock_init();
-  detect();
+  detect_configuration();
+  detect_board_type();

-  if (revision == PANDA_REV_C) {
-    set_usb_power_mode(USB_POWER_CLIENT);
-  }
+  current_board->set_usb_power_mode(USB_POWER_CLIENT);

  if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
    enter_bootloader_mode = 0;
--- a/panda/board/build.mk
+++ b/panda/board/build.mk
@@ -68,7 +68,7 @@ obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
 	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
 	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
 	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; \
-	if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
+	if [ $$BINSIZE -ge 49152 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;

 obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
 	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -33,7 +33,6 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 // end API

 #define ALL_CAN_SILENT 0xFF
-#define ALL_CAN_BUT_MAIN_SILENT 0xFE
 #define ALL_CAN_LIVE 0

 int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
@@ -63,7 +62,7 @@ int can_overflow_cnt = 0;
 bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
  bool ret = 0;

-  enter_critical_section();
+  ENTER_CRITICAL();
  if (q->w_ptr != q->r_ptr) {
    *elem = q->elems[q->r_ptr];
    if ((q->r_ptr + 1U) == q->fifo_size) {
@@ -73,7 +72,7 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
    }
    ret = 1;
  }
-  exit_critical_section();
+  EXIT_CRITICAL();

  return ret;
 }
@@ -82,7 +81,7 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
  bool ret = false;
  uint32_t next_w_ptr;

-  enter_critical_section();
+  ENTER_CRITICAL();
  if ((q->w_ptr + 1U) == q->fifo_size) {
    next_w_ptr = 0;
  } else {
@@ -93,7 +92,7 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
    q->w_ptr = next_w_ptr;
    ret = true;
  }
-  exit_critical_section();
+  EXIT_CRITICAL();
  if (!ret) {
    can_overflow_cnt++;
    #ifdef DEBUG
@@ -104,10 +103,10 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
 }

 void can_clear(can_ring *q) {
-  enter_critical_section();
+  ENTER_CRITICAL();
  q->w_ptr = 0;
  q->r_ptr = 0;
-  exit_critical_section();
+  EXIT_CRITICAL();
 }

 // assign CAN numbering
@@ -125,7 +124,7 @@ uint8_t bus_lookup[] = {0,1,2};
 uint8_t can_num_lookup[] = {0,1,2,-1};
 int8_t can_forwarding[] = {-1,-1,-1,-1};
 uint32_t can_speed[] = {5000, 5000, 5000, 333};
-#define CAN_MAX 3
+#define CAN_MAX 3U

 #define CANIF_FROM_CAN_NUM(num) (cans[num])
 #define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
@@ -149,7 +148,6 @@ void can_set_speed(uint8_t can_number) {
 void can_init(uint8_t can_number) {
  if (can_number != 0xffU) {
    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
-    set_can_enable(CAN, 1);
    can_set_speed(can_number);

    llcan_init(CAN);
@@ -160,56 +158,98 @@ void can_init(uint8_t can_number) {
 }

 void can_init_all(void) {
-  for (int i=0; i < CAN_MAX; i++) {
+  for (uint8_t i=0U; i < CAN_MAX; i++) {
    can_init(i);
  }
+  current_board->enable_can_transcievers(true);
+}
+
+void can_flip_buses(uint8_t bus1, uint8_t bus2){
+  bus_lookup[bus1] = bus2;
+  bus_lookup[bus2] = bus1;
+  can_num_lookup[bus1] = bus2;
+  can_num_lookup[bus2] = bus1;
+}
+
+// TODO: Cleanup with new abstraction
+void can_set_gmlan(uint8_t bus) {
+  if(hw_type != HW_TYPE_BLACK_PANDA){
+    // first, disable GMLAN on prev bus
+    uint8_t prev_bus = can_num_lookup[3];
+    if (bus != prev_bus) {
+      switch (prev_bus) {
+        case 1:
+        case 2:
+          puts("Disable GMLAN on CAN");
+          puth(prev_bus + 1U);
+          puts("\n");
+          current_board->set_can_mode(CAN_MODE_NORMAL);
+          bus_lookup[prev_bus] = prev_bus;
+          can_num_lookup[prev_bus] = prev_bus;
+          can_num_lookup[3] = -1;
+          can_init(prev_bus);
+          break;
+        default:
+          // GMLAN was not set on either BUS 1 or 2
+          break;
+      }
+    }
+
+    // now enable GMLAN on the new bus
+    switch (bus) {
+      case 1:
+      case 2:
+        puts("Enable GMLAN on CAN");
+        puth(bus + 1U);
+        puts("\n");
+        current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
+        bus_lookup[bus] = 3;
+        can_num_lookup[bus] = -1;
+        can_num_lookup[3] = bus;
+        can_init(bus);
+        break;
+      case 0xFF:  //-1 unsigned
+        break;
+      default:
+        puts("GMLAN can only be set on CAN2 or CAN3\n");
+        break;
+    }
+  } else {
+    puts("GMLAN not available on black panda\n");
+  }
 }

-void can_set_gmlan(uint8_t bus) {
-
-  // first, disable GMLAN on prev bus
-  uint8_t prev_bus = can_num_lookup[3];
-  if (bus != prev_bus) {
-    switch (prev_bus) {
-      case 1:
-      case 2:
-        puts("Disable GMLAN on CAN");
-        puth(prev_bus + 1U);
-        puts("\n");
-        set_can_mode(prev_bus, 0);
-        bus_lookup[prev_bus] = prev_bus;
-        can_num_lookup[prev_bus] = prev_bus;
-        can_num_lookup[3] = -1;
-        can_init(prev_bus);
-        break;
-      default:
-        // GMLAN was not set on either BUS 1 or 2
-        break;
-    }
+// TODO: remove
+void can_set_obd(uint8_t harness_orientation, bool obd){
+  if(obd){
+    puts("setting CAN2 to be OBD\n");
+  } else {
+    puts("setting CAN2 to be normal\n");
  }
-
-  // now enable GMLAN on the new bus
-  switch (bus) {
-    case 1:
-    case 2:
-      puts("Enable GMLAN on CAN");
-      puth(bus + 1U);
-      puts("\n");
-      set_can_mode(bus, 1);
-      bus_lookup[bus] = 3;
-      can_num_lookup[bus] = -1;
-      can_num_lookup[3] = bus;
-      can_init(bus);
-      break;
-    default:
-      puts("GMLAN can only be set on CAN2 or CAN3");
-      break;
+  if(hw_type == HW_TYPE_BLACK_PANDA){
+    if(obd != (bool)(harness_orientation == HARNESS_STATUS_NORMAL)){
+        // B5,B6: disable normal mode
+        set_gpio_mode(GPIOB, 5, MODE_INPUT);
+        set_gpio_mode(GPIOB, 6, MODE_INPUT);
+        // B12,B13: CAN2 mode
+        set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
+    } else {
+        // B5,B6: CAN2 mode
+        set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
+        set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
+        // B12,B13: disable normal mode
+        set_gpio_mode(GPIOB, 12, MODE_INPUT);
+        set_gpio_mode(GPIOB, 13, MODE_INPUT);
+    }
+  } else {
+    puts("OBD CAN not available on non-black panda\n");
  }
 }

 // CAN error
 void can_sce(CAN_TypeDef *CAN) {
-  enter_critical_section();
+  ENTER_CRITICAL();

  #ifdef DEBUG
    if (CAN==CAN1) puts("CAN1:  ");
@@ -232,7 +272,7 @@ void can_sce(CAN_TypeDef *CAN) {

  can_err_cnt += 1;
  llcan_clear_send(CAN);
-  exit_critical_section();
+  EXIT_CRITICAL();
 }

 // ***************************** CAN *****************************
@@ -240,7 +280,7 @@ void can_sce(CAN_TypeDef *CAN) {
 void process_can(uint8_t can_number) {
  if (can_number != 0xffU) {

-    enter_critical_section();
+    ENTER_CRITICAL();

    CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
    uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
@@ -288,7 +328,7 @@ void process_can(uint8_t can_number) {
      }
    }

-    exit_critical_section();
+    EXIT_CRITICAL();
  }
 }

@@ -326,7 +366,7 @@ void can_rx(uint8_t can_number) {

    safety_rx_hook(&to_push);

-    set_led(LED_BLUE, 1);
+    current_board->set_led(LED_BLUE, true);
    can_send_errs += !can_push(&can_rx_q, &to_push);

    // next
--- a/panda/board/drivers/harness.h
+++ b/panda/board/drivers/harness.h
@@ -0,0 +1,130 @@
+uint8_t car_harness_status = 0U;
+#define HARNESS_STATUS_NC 0U
+#define HARNESS_STATUS_NORMAL 1U
+#define HARNESS_STATUS_FLIPPED 2U
+
+// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
+#define HARNESS_CONNECTED_THRESHOLD 2500U
+
+struct harness_configuration {
+  const bool has_harness;
+  GPIO_TypeDef *GPIO_SBU1;  
+  GPIO_TypeDef *GPIO_SBU2;
+  GPIO_TypeDef *GPIO_relay_normal;
+  GPIO_TypeDef *GPIO_relay_flipped;
+  uint8_t pin_SBU1;
+  uint8_t pin_SBU2;
+  uint8_t pin_relay_normal;
+  uint8_t pin_relay_flipped;
+  uint8_t adc_channel_SBU1;
+  uint8_t adc_channel_SBU2;
+};
+
+// this function will be the API for tici
+void set_intercept_relay(bool intercept) {
+  if (car_harness_status != HARNESS_STATUS_NC) {
+    if (intercept) {
+      puts("switching harness to intercept (relay on)\n");
+    } else {
+      puts("switching harness to passthrough (relay off)\n");
+    }
+
+    if(car_harness_status == HARNESS_STATUS_NORMAL){
+      set_gpio_output(current_board->harness_config->GPIO_relay_normal, current_board->harness_config->pin_relay_normal, !intercept);
+    } else {
+      set_gpio_output(current_board->harness_config->GPIO_relay_flipped, current_board->harness_config->pin_relay_flipped, !intercept);
+    }
+  }
+}
+
+bool harness_check_ignition(void) {
+  bool ret = false;
+  switch(car_harness_status){
+    case HARNESS_STATUS_NORMAL:
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
+      break;
+    case HARNESS_STATUS_FLIPPED:
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
+      break;
+    default:
+      break;
+  }
+  return ret;
+}
+
+// TODO: refactor to use harness config
+void harness_setup_ignition_interrupts(void){
+  if(car_harness_status == HARNESS_STATUS_NORMAL){
+    SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI3_PC;
+    EXTI->IMR |= (1U << 3);
+    EXTI->RTSR |= (1U << 3);
+    EXTI->FTSR |= (1U << 3);
+    puts("setup interrupts: normal\n");
+  } else if(car_harness_status == HARNESS_STATUS_FLIPPED) {
+    SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI0_PC;
+    EXTI->IMR |= (1U << 0);
+    EXTI->RTSR |= (1U << 0);
+    EXTI->FTSR |= (1U << 0);
+    NVIC_EnableIRQ(EXTI1_IRQn);
+    puts("setup interrupts: flipped\n");
+  } else {
+    puts("tried to setup ignition interrupts without harness connected\n");
+  }
+  NVIC_EnableIRQ(EXTI0_IRQn);
+  NVIC_EnableIRQ(EXTI3_IRQn);
+}
+
+uint8_t harness_detect_orientation(void) {
+  uint8_t ret = HARNESS_STATUS_NC;
+
+  #ifndef BOOTSTUB
+  uint32_t sbu1_voltage = adc_get(current_board->harness_config->adc_channel_SBU1);
+  uint32_t sbu2_voltage = adc_get(current_board->harness_config->adc_channel_SBU2);
+
+  // Detect connection and orientation
+  if((sbu1_voltage < HARNESS_CONNECTED_THRESHOLD) || (sbu2_voltage < HARNESS_CONNECTED_THRESHOLD)){
+    if (sbu1_voltage < sbu2_voltage) {
+      // orientation normal
+      ret = HARNESS_STATUS_NORMAL;
+    } else {
+      // orientation flipped
+      ret = HARNESS_STATUS_FLIPPED;
+    }
+  }
+  #endif
+
+  return ret;
+}
+
+void harness_init(void) {
+  // delay such that the connection is fully made before trying orientation detection
+  current_board->set_led(LED_BLUE, true);
+  delay(10000000);
+  current_board->set_led(LED_BLUE, false);
+
+  // try to detect orientation
+  uint8_t ret = harness_detect_orientation();
+  if (ret != HARNESS_STATUS_NC) {
+    puts("detected car harness with orientation "); puth2(ret); puts("\n");
+    car_harness_status = ret;
+
+    // set the SBU lines to be inputs before using the relay. The lines are not 5V tolerant in ADC mode!
+    set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
+    set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
+
+    // now we have orientation, set pin ignition detection
+    if(car_harness_status == HARNESS_STATUS_NORMAL){
+      set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
+    } else {
+      set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
+    }      
+
+    // keep busses connected by default
+    set_intercept_relay(false);
+
+    // setup ignition interrupts
+    harness_setup_ignition_interrupts();
+  } else {
+    puts("failed to detect car harness!\n");
+  }
+}
--- a/panda/board/drivers/llgpio.h
+++ b/panda/board/drivers/llgpio.h
@@ -7,35 +7,56 @@
 #define PULL_UP 1
 #define PULL_DOWN 2

+#define OUTPUT_TYPE_PUSH_PULL 0U
+#define OUTPUT_TYPE_OPEN_DRAIN 1U
+
 void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  ENTER_CRITICAL();
  uint32_t tmp = GPIO->MODER;
  tmp &= ~(3U << (pin * 2U));
  tmp |= (mode << (pin * 2U));
  GPIO->MODER = tmp;
+  EXIT_CRITICAL();
 }

 void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
+  ENTER_CRITICAL();
  if (enabled) {
    GPIO->ODR |= (1U << pin);
  } else {
    GPIO->ODR &= ~(1U << pin);
  }
  set_gpio_mode(GPIO, pin, MODE_OUTPUT);
+  EXIT_CRITICAL();
+}
+
+void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
+  ENTER_CRITICAL();
+  if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
+    GPIO->OTYPER |= (1U << pin);
+  } else {
+    GPIO->OTYPER &= ~(1U << pin);
+  }
+  EXIT_CRITICAL();
 }

 void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  ENTER_CRITICAL();
  uint32_t tmp = GPIO->AFR[pin >> 3U];
  tmp &= ~(0xFU << ((pin & 7U) * 4U));
  tmp |= mode << ((pin & 7U) * 4U);
  GPIO->AFR[pin >> 3] = tmp;
  set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
+  EXIT_CRITICAL();
 }

 void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
+  ENTER_CRITICAL();
  uint32_t tmp = GPIO->PUPDR;
  tmp &= ~(3U << (pin * 2U));
  tmp |= (mode << (pin * 2U));
  GPIO->PUPDR = tmp;
+  EXIT_CRITICAL();
 }

 int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
--- a/panda/board/drivers/uart.h
+++ b/panda/board/drivers/uart.h
@@ -74,7 +74,7 @@ uart_ring *get_ring_by_number(int a) {
 // ***************************** serial port *****************************

 void uart_ring_process(uart_ring *q) {
-  enter_critical_section();
+  ENTER_CRITICAL();
  // TODO: check if external serial is connected
  int sr = q->uart->SR;

@@ -108,7 +108,7 @@ void uart_ring_process(uart_ring *q) {
    // set dropped packet flag?
  }

-  exit_critical_section();
+  EXIT_CRITICAL();
 }

 // interrupt boilerplate
@@ -121,13 +121,13 @@ void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }
 bool getc(uart_ring *q, char *elem) {
  bool ret = false;

-  enter_critical_section();
+  ENTER_CRITICAL();
  if (q->w_ptr_rx != q->r_ptr_rx) {
    if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
    q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
    ret = true;
  }
-  exit_critical_section();
+  EXIT_CRITICAL();

  return ret;
 }
@@ -136,14 +136,14 @@ bool injectc(uart_ring *q, char elem) {
  int ret = false;
  uint16_t next_w_ptr;

-  enter_critical_section();
+  ENTER_CRITICAL();
  next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
  if (next_w_ptr != q->r_ptr_rx) {
    q->elems_rx[q->w_ptr_rx] = elem;
    q->w_ptr_rx = next_w_ptr;
    ret = true;
  }
-  exit_critical_section();
+  EXIT_CRITICAL();

  return ret;
 }
@@ -152,14 +152,14 @@ bool putc(uart_ring *q, char elem) {
  bool ret = false;
  uint16_t next_w_ptr;

-  enter_critical_section();
+  ENTER_CRITICAL();
  next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
  if (next_w_ptr != q->r_ptr_tx) {
    q->elems_tx[q->w_ptr_tx] = elem;
    q->w_ptr_tx = next_w_ptr;
    ret = true;
  }
-  exit_critical_section();
+  EXIT_CRITICAL();

  uart_ring_process(q);

@@ -185,12 +185,12 @@ void uart_send_break(uart_ring *u) {
 }

 void clear_uart_buff(uart_ring *q) {
-  enter_critical_section();
+  ENTER_CRITICAL();
  q->w_ptr_tx = 0;
  q->r_ptr_tx = 0;
  q->w_ptr_rx = 0;
  q->r_ptr_rx = 0;
-  exit_critical_section();
+  EXIT_CRITICAL();
 }

 // ***************************** start UART code *****************************
@@ -215,7 +215,7 @@ char usart1_dma[USART1_DMA_LEN];
 void uart_dma_drain(void) {
  uart_ring *q = &esp_ring;

-  enter_critical_section();
+  ENTER_CRITICAL();

  if ((DMA2->HISR & DMA_HISR_TCIF5) || (DMA2->HISR & DMA_HISR_HTIF5) || (DMA2_Stream5->NDTR != USART1_DMA_LEN)) {
    // disable DMA
@@ -245,7 +245,7 @@ void uart_dma_drain(void) {
    q->uart->CR3 |= USART_CR3_DMAR;
  }

-  exit_critical_section();
+  EXIT_CRITICAL();
 }

 void DMA2_Stream5_IRQHandler(void) {
--- a/panda/board/gpio.h
+++ b/panda/board/gpio.h
@@ -1,383 +1,4 @@
-// this is last place with ifdef PANDA
-
-#ifdef STM32F4
-  #include "stm32f4xx_hal_gpio_ex.h"
-#else
-  #include "stm32f2xx_hal_gpio_ex.h"
-#endif
-
-// ********************* dynamic configuration detection *********************
-
-#define PANDA_REV_AB 0
-#define PANDA_REV_C 1
-
-#define PULL_EFFECTIVE_DELAY 10
-
-void puts(const char *a);
-
-bool has_external_debug_serial = 0;
-bool is_giant_panda = 0;
-bool is_entering_bootmode = 0;
-int revision = PANDA_REV_AB;
-bool is_grey_panda = 0;
-
-bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
-  set_gpio_mode(GPIO, pin, MODE_INPUT);
-  set_gpio_pullup(GPIO, pin, mode);
-  for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
-  bool ret = get_gpio_input(GPIO, pin);
-  set_gpio_pullup(GPIO, pin, PULL_NONE);
-  return ret;
-}
-
-// must call again from main because BSS is zeroed
-void detect(void) {
-  // detect has_external_debug_serial
-  has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
-
-#ifdef PANDA
-  // detect is_giant_panda
-  is_giant_panda = detect_with_pull(GPIOB, 1, PULL_DOWN);
-
-  // detect panda REV C.
-  // A13 floats in REV AB. In REV C, A13 is pulled up to 5V with a 10K
-  // resistor and attached to the USB power control chip CTRL
-  // line. Pulling A13 down with an internal 50k resistor in REV C
-  // will produce a voltage divider that results in a high logic
-  // level. Checking if this pin reads high with a pull down should
-  // differentiate REV AB from C.
-  revision = detect_with_pull(GPIOA, 13, PULL_DOWN) ? PANDA_REV_C : PANDA_REV_AB;
-
-  // check if the ESP is trying to put me in boot mode
-  is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
-
-  // check if it's a grey panda by seeing if the SPI lines are floating
-  // TODO: is this reliable?
-  is_grey_panda = !(detect_with_pull(GPIOA, 4, PULL_DOWN) | detect_with_pull(GPIOA, 5, PULL_DOWN) | detect_with_pull(GPIOA, 6, PULL_DOWN) | detect_with_pull(GPIOA, 7, PULL_DOWN));
-#else
-  // need to do this for early detect
-  is_giant_panda = 0;
-  is_grey_panda = 0;
-  revision = PANDA_REV_AB;
-  is_entering_bootmode = 0;
-#endif
-}
-
-// ********************* bringup *********************
-
-void periph_init(void) {
-  // enable GPIOB, UART2, CAN, USB clock
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-  RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
-
-  RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-  RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
-  #ifdef PANDA
-    RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
-  RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
-  #ifdef CAN3
-    RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
-  #endif
-  RCC->APB1ENR |= RCC_APB1ENR_DACEN;
-  RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;  // main counter
-  RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;  // slow loop and pedal
-  RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;  // gmlan_alt
-  //RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
-  //RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
-  RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
-  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
-  //RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
-  RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
-}
-
-// ********************* setters *********************
-
-void set_can_enable(CAN_TypeDef *CAN_obj, bool enabled) {
-  // enable CAN busses
-  if (CAN_obj == CAN1) {
-    #ifdef PANDA
-      // CAN1_EN
-      set_gpio_output(GPIOC, 1, !enabled);
-    #else
-      #ifdef PEDAL
-        // CAN1_EN (not flipped)
-        set_gpio_output(GPIOB, 3, !enabled);
-      #else
-        // CAN1_EN
-        set_gpio_output(GPIOB, 3, enabled);
-      #endif
-    #endif
-  } else if (CAN_obj == CAN2) {
-    #ifdef PANDA
-      // CAN2_EN
-      set_gpio_output(GPIOC, 13, !enabled);
-    #else
-      // CAN2_EN
-      set_gpio_output(GPIOB, 4, enabled);
-    #endif
-  #ifdef CAN3
-  } else if (CAN_obj == CAN3) {
-    // CAN3_EN
-    set_gpio_output(GPIOA, 0, !enabled);
-  #endif
-  } else {
-    puts("Invalid CAN: enabling failed\n");
-  }
-}
-
-#ifdef PANDA
-  #define LED_RED 9
-  #define LED_GREEN 7
-  #define LED_BLUE 6
-#else
-  #define LED_RED 10
-  #define LED_GREEN 11
-  #define LED_BLUE -1
-#endif
-
-void set_led(int led_num, int on) {
-  if (led_num != -1) {
-  #ifdef PANDA
-    set_gpio_output(GPIOC, led_num, !on);
-  #else
-    set_gpio_output(GPIOB, led_num, !on);
-  #endif
-  }
-}
-
-void set_can_mode(int can, bool use_gmlan) {
-  // connects to CAN2 xcvr or GMLAN xcvr
-  if (use_gmlan) {
-    if (can == 1) {
-      // B5,B6: disable normal mode
-      set_gpio_mode(GPIOB, 5, MODE_INPUT);
-      set_gpio_mode(GPIOB, 6, MODE_INPUT);
-
-      // B12,B13: gmlan mode
-      set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
-#ifdef CAN3
-    } else if (can == 2) {
-      // A8,A15: disable normal mode
-      set_gpio_mode(GPIOA, 8, MODE_INPUT);
-      set_gpio_mode(GPIOA, 15, MODE_INPUT);
-
-      // B3,B4: enable gmlan mode
-      set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
-#endif
-    } else {
-      puts("Invalid CAN: mode setting failed\n");
-    }
-  } else {
-    if (can == 1) {
-      // B12,B13: disable gmlan mode
-      set_gpio_mode(GPIOB, 12, MODE_INPUT);
-      set_gpio_mode(GPIOB, 13, MODE_INPUT);
-
-      // B5,B6: normal mode
-      set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
-      set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
-#ifdef CAN3
-    } else if (can == 2) {
-      // B3,B4: disable gmlan mode
-      set_gpio_mode(GPIOB, 3, MODE_INPUT);
-      set_gpio_mode(GPIOB, 4, MODE_INPUT);
-      // A8,A15: normal mode
-      set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
-      set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
-#endif
-    } else {
-      puts("Invalid CAN: mode setting failed\n");
-    }
-  }
-}
-
-#define USB_POWER_NONE 0
-#define USB_POWER_CLIENT 1
-#define USB_POWER_CDP 2
-#define USB_POWER_DCP 3
-
-int usb_power_mode = USB_POWER_NONE;
-
-void set_usb_power_mode(int mode) {
-  bool valid_mode = true;
-  switch (mode) {
-    case USB_POWER_CLIENT:
-      // B2,A13: set client mode
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_CDP:
-      // B2,A13: set CDP mode
-      set_gpio_output(GPIOB, 2, 1);
-      set_gpio_output(GPIOA, 13, 1);
-      break;
-    case USB_POWER_DCP:
-      // B2,A13: set DCP mode on the charger (breaks USB!)
-      set_gpio_output(GPIOB, 2, 0);
-      set_gpio_output(GPIOA, 13, 0);
-      break;
-    default:
-      valid_mode = false;
-      puts("Invalid usb power mode\n");
-      break;
-  }
-
-  if (valid_mode) {
-    usb_power_mode = mode;
-  }
-}
-
-#define ESP_DISABLED 0
-#define ESP_ENABLED 1
-#define ESP_BOOTMODE 2
-
-void set_esp_mode(int mode) {
-  switch (mode) {
-    case ESP_DISABLED:
-      // ESP OFF
-      set_gpio_output(GPIOC, 14, 0);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    case ESP_ENABLED:
-      // ESP ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-    case ESP_BOOTMODE:
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 0);
-      break;
-    default:
-      puts("Invalid esp mode\n");
-      break;
-  }
-}
-
-// ********************* big init function *********************
-
-// board specific
-void gpio_init(void) {
-  // pull low to hold ESP in reset??
-  // enable OTG out tied to ground
-  GPIOA->ODR = 0;
-  GPIOB->ODR = 0;
-  GPIOA->PUPDR = 0;
-  //GPIOC->ODR = 0;
-  GPIOB->AFR[0] = 0;
-  GPIOB->AFR[1] = 0;
-
-  // C2,C3: analog mode, voltage and current sense
-  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 3, MODE_ANALOG);
-
-#ifdef PEDAL
-  // comma pedal has inputs on C0 and C1
-  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
-  set_gpio_mode(GPIOC, 1, MODE_ANALOG);
-  // DAC outputs on A4 and A5
-  //   apparently they don't need GPIO setup
-#endif
-
-  // C8: FAN aka TIM3_CH4
-  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
-
-  // turn off LEDs and set mode
-  set_led(LED_RED, 0);
-  set_led(LED_GREEN, 0);
-  set_led(LED_BLUE, 0);
-
-  // A11,A12: USB
-  set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
-  set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
-  GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
-
-#ifdef PANDA
-  // enable started_alt on the panda
-  set_gpio_pullup(GPIOA, 1, PULL_UP);
-
-  // A2,A3: USART 2 for debugging
-  set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
-  set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
-
-  // A9,A10: USART 1 for talking to the ESP
-  set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
-  set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
-
-  // B12: GMLAN, ignition sense, pull up
-  set_gpio_pullup(GPIOB, 12, PULL_UP);
-
-  // A4,A5,A6,A7: setup SPI
-  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
-  set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
-#endif
-
-  // B8,B9: CAN 1
-#ifdef STM32F4
-  set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
-  set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
-#else
-  set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
-  set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
-#endif
-  set_can_enable(CAN1, 1);
-
-  // B5,B6: CAN 2
-  set_can_mode(1, 0);
-  set_can_enable(CAN2, 1);
-
-  // A8,A15: CAN 3
-  #ifdef CAN3
-    set_can_mode(2, 0);
-    set_can_enable(CAN3, 1);
-  #endif
-
-  /* GMLAN mode pins:
-  M0(B15)  M1(B14)  mode
-  =======================
-  0        0        sleep
-  1        0        100kbit
-  0        1        high voltage wakeup
-  1        1        33kbit (normal)
-  */
-
-  // put gmlan transceiver in normal mode
-  set_gpio_output(GPIOB, 14, 1);
-  set_gpio_output(GPIOB, 15, 1);
-
-  #ifdef PANDA
-    // K-line enable moved from B4->B7 to make room for GMLAN on CAN3
-    set_gpio_output(GPIOB, 7, 1); // REV C
-
-    // C12,D2: K-Line setup on UART 5
-    set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
-    set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
-    set_gpio_pullup(GPIOD, 2, PULL_UP);
-
-    // L-line enable
-    set_gpio_output(GPIOA, 14, 1);
-
-    // C10,C11: L-Line setup on USART 3
-    set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
-    set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
-    set_gpio_pullup(GPIOC, 11, PULL_UP);
-  #endif
-
-  set_usb_power_mode(USB_POWER_CLIENT);
-}
-
-// ********************* early bringup *********************
-
+// Early bringup
 #define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
 #define ENTER_SOFTLOADER_MAGIC 0xdeadc0de
 #define BOOT_NORMAL 0xdeadb111
@@ -399,6 +20,12 @@ void jump_to_bootloader(void) {
 }

 void early(void) {
+  // Reset global critical depth
+  global_critical_depth = 0;
+
+  // neccesary for DFU flashing on a non-power cycled white panda
+  enable_interrupts();
+
  // after it's been in the bootloader, things are initted differently, so we reset
  if ((enter_bootloader_mode != BOOT_NORMAL) &&
      (enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
@@ -429,29 +56,25 @@ void early(void) {
  GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
  GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;

-  detect();
+  detect_configuration();
+  detect_board_type();

  #ifdef PANDA
    // enable the ESP, disable ESP boot mode
-    // unless we are on a giant panda, then there's no ESP
    // dont disable on grey panda
-    if (is_giant_panda) {
-      set_esp_mode(ESP_DISABLED);
-    } else {
-      set_esp_mode(ESP_ENABLED);
-    }
+    current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
  #endif


  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
  #ifdef PANDA
-    set_esp_mode(ESP_DISABLED);
+    current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
  #endif
-    set_led(LED_GREEN, 1);
+    current_board->set_led(LED_GREEN, 1);
    jump_to_bootloader();
  }

  if (is_entering_bootmode) {
    enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
  }
-}
+}
--- a/panda/board/libc.h
+++ b/panda/board/libc.h
@@ -42,24 +42,26 @@ int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {

 // ********************* IRQ helpers *********************

-int interrupts_enabled = 0;
+volatile bool interrupts_enabled = false;
+
 void enable_interrupts(void) {
-  interrupts_enabled = 1;
+  interrupts_enabled = true;
  __enable_irq();
 }

-int critical_depth = 0;
-void enter_critical_section(void) {
+void disable_interrupts(void) {
+  interrupts_enabled = false;
  __disable_irq();
-  // this is safe because interrupts are disabled
-  critical_depth += 1;
 }

-void exit_critical_section(void) {
-  // this is safe because interrupts are disabled
-  critical_depth -= 1;
-  if ((critical_depth == 0) && interrupts_enabled) {
-    __enable_irq();
+uint8_t global_critical_depth = 0U;
+#define ENTER_CRITICAL()                                      \
+  __disable_irq();                                            \
+  global_critical_depth += 1U;
+
+#define EXIT_CRITICAL()                                       \
+  global_critical_depth -= 1U;                                \
+  if ((global_critical_depth == 0U) && interrupts_enabled) {  \
+    __enable_irq();                                           \
  }
-}

--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -1,34 +1,39 @@
-//#define EON
+//#define EON 
+//#define PANDA

+// ********************* Includes *********************
 #include "config.h"
 #include "obj/gitversion.h"

-// ********************* includes *********************
-
-
 #include "libc.h"
 #include "provision.h"

+#include "main_declarations.h"
+
 #include "drivers/llcan.h"
 #include "drivers/llgpio.h"
-#include "gpio.h"
+#include "drivers/adc.h"
+
+#include "board.h"

 #include "drivers/uart.h"
-#include "drivers/adc.h"
 #include "drivers/usb.h"
 #include "drivers/gmlan_alt.h"
 #include "drivers/timer.h"
 #include "drivers/clock.h"

+#include "gpio.h"
+
 #ifndef EON
 #include "drivers/spi.h"
 #endif

 #include "power_saving.h"
 #include "safety.h"
+
 #include "drivers/can.h"

-// ********************* serial debugging *********************
+// ********************* Serial debugging *********************

 void debug_ring_callback(uart_ring *ring) {
  char rcv;
@@ -49,30 +54,23 @@ void debug_ring_callback(uart_ring *ring) {
    // enable CDP mode
    if (rcv == 'C') {
      puts("switching USB to CDP mode\n");
-      set_usb_power_mode(USB_POWER_CDP);
+      current_board->set_usb_power_mode(USB_POWER_CDP);
    }
    if (rcv == 'c') {
      puts("switching USB to client mode\n");
-      set_usb_power_mode(USB_POWER_CLIENT);
+      current_board->set_usb_power_mode(USB_POWER_CLIENT);
    }
    if (rcv == 'D') {
      puts("switching USB to DCP mode\n");
-      set_usb_power_mode(USB_POWER_DCP);
+      current_board->set_usb_power_mode(USB_POWER_DCP);
    }
  }
 }

 // ***************************** started logic *****************************
-
-bool is_gpio_started(void) {
-  // ignition is on PA1
-  return (GPIOA->IDR & (1U << 1)) == 0;
-}
-
-// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
-void EXTI1_IRQHandler(void) {
-  volatile unsigned int pr = EXTI->PR & (1U << 1);
-  if ((pr & (1U << 1)) != 0U) {
+void started_interrupt_handler(uint8_t interrupt_line) {
+  volatile unsigned int pr = EXTI->PR & (1U << interrupt_line);
+  if ((pr & (1U << interrupt_line)) != 0U) {
    #ifdef DEBUG
      puts("got started interrupt\n");
    #endif
@@ -80,19 +78,72 @@ void EXTI1_IRQHandler(void) {
    // jenky debounce
    delay(100000);

-    // set power savings mode here
-    int power_save_state = is_gpio_started() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
-    set_power_save_state(power_save_state);
-    EXTI->PR = (1U << 1);
+    // set power savings mode here if on EON build
+    #ifdef EON
+      int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
+      set_power_save_state(power_save_state);
+    #endif
  }
+  EXTI->PR = (1U << interrupt_line);
 }

-void started_interrupt_init(void) {
-  SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
-  EXTI->IMR |= (1U << 1);
-  EXTI->RTSR |= (1U << 1);
-  EXTI->FTSR |= (1U << 1);
-  NVIC_EnableIRQ(EXTI1_IRQn);
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void EXTI0_IRQHandler(void) {
+  started_interrupt_handler(0);
+}
+
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void EXTI1_IRQHandler(void) {
+  started_interrupt_handler(1);
+}
+
+// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
+void EXTI3_IRQHandler(void) {
+  started_interrupt_handler(3);
+}
+
+// ****************************** safety mode ******************************
+
+// this is the only way to leave silent mode
+void set_safety_mode(uint16_t mode, int16_t param) {
+  int err = safety_set_mode(mode, param);
+  if (err == -1) {
+    puts("Error: safety set mode failed\n");
+  } else {
+    switch (mode) {
+        case SAFETY_NOOUTPUT:
+          set_intercept_relay(false);
+          if(hw_type == HW_TYPE_BLACK_PANDA){
+            current_board->set_can_mode(CAN_MODE_NORMAL);
+          }
+          can_silent = ALL_CAN_SILENT;
+          break;
+        case SAFETY_ELM327:
+          set_intercept_relay(false);
+          heartbeat_counter = 0U;
+          if(hw_type == HW_TYPE_BLACK_PANDA){
+            current_board->set_can_mode(CAN_MODE_OBD_CAN2);
+          }
+          can_silent = ALL_CAN_LIVE;
+          break;
+        default:
+          set_intercept_relay(true);
+          heartbeat_counter = 0U;
+          if(hw_type == HW_TYPE_BLACK_PANDA){
+            current_board->set_can_mode(CAN_MODE_NORMAL);
+          }
+          can_silent = ALL_CAN_LIVE;
+          break;
+      }          
+    if (safety_ignition_hook() != -1) {
+      // if the ignition hook depends on something other than the started GPIO
+      // we have to disable power savings (fix for GM and Tesla)
+      set_power_save_state(POWER_SAVE_STATUS_DISABLED);
+    } else {
+      // power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
+    }
+    can_init_all();
+  }
 }

 // ***************************** USB port *****************************
@@ -101,12 +152,13 @@ int get_health_pkt(void *dat) {
  struct __attribute__((packed)) {
    uint32_t voltage_pkt;
    uint32_t current_pkt;
-    uint8_t started_pkt;
-    uint8_t controls_allowed_pkt;
-    uint8_t gas_interceptor_detected_pkt;
    uint32_t can_send_errs_pkt;
    uint32_t can_fwd_errs_pkt;
    uint32_t gmlan_send_errs_pkt;
+    uint8_t started_pkt;
+    uint8_t controls_allowed_pkt;
+    uint8_t gas_interceptor_detected_pkt;
+    uint8_t car_harness_status_pkt;
  } *health = dat;

  //Voltage will be measured in mv. 5000 = 5V
@@ -121,11 +173,17 @@ int get_health_pkt(void *dat) {
  // Avoid needing floating point math
  health->voltage_pkt = (voltage * 8862U) / 1000U;

-  health->current_pkt = adc_get(ADCCHAN_CURRENT);
+  // No current sense on panda black
+  if(hw_type != HW_TYPE_BLACK_PANDA){
+    health->current_pkt = adc_get(ADCCHAN_CURRENT);
+  } else {
+    health->current_pkt = 0;
+  }
+
  int safety_ignition = safety_ignition_hook();
  if (safety_ignition < 0) {
    //Use the GPIO pin to determine ignition
-    health->started_pkt = is_gpio_started();
+    health->started_pkt = (uint8_t)(current_board->check_ignition());
  } else {
    //Current safety hooks want to determine ignition (ex: GM)
    health->started_pkt = safety_ignition;
@@ -136,7 +194,8 @@ int get_health_pkt(void *dat) {
  health->can_send_errs_pkt = can_send_errs;
  health->can_fwd_errs_pkt = can_fwd_errs;
  health->gmlan_send_errs_pkt = gmlan_send_errs;
-
+  health->car_harness_status_pkt = car_harness_status;
+  
  return sizeof(*health);
 }

@@ -183,8 +242,6 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
  }
 }

-bool is_enumerated = 0;
-
 void usb_cb_enumeration_complete() {
  puts("USB enumeration complete\n");
  is_enumerated = 1;
@@ -203,9 +260,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      puts(" err: "); puth(can_err_cnt);
      puts("\n");
      break;
-    // **** 0xc1: is grey panda
+    // **** 0xc1: get hardware type
    case 0xc1:
-      resp[0] = is_grey_panda;
+      resp[0] = hw_type;
      resp_len = 1;
      break;
    // **** 0xd0: fetch serial number
@@ -225,11 +282,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      // so it's blocked over wifi
      switch (setup->b.wValue.w) {
        case 0:
-          if (hardwired) {
-            puts("-> entering bootloader\n");
-            enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
-            NVIC_SystemReset();
-          }
+          // only allow bootloader entry on debug builds
+          #ifdef ALLOW_DEBUG
+            if (hardwired) {
+              puts("-> entering bootloader\n");
+              enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+              NVIC_SystemReset();
+            }
+          #endif
          break;
        case 1:
          puts("-> entering softloader\n");
@@ -258,73 +318,57 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
    // **** 0xd9: set ESP power
    case 0xd9:
      if (setup->b.wValue.w == 1U) {
-        set_esp_mode(ESP_ENABLED);
+        current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
      } else if (setup->b.wValue.w == 2U) {
-        set_esp_mode(ESP_BOOTMODE);
+        current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
      } else {
-        set_esp_mode(ESP_DISABLED);
+        current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
      }
      break;
    // **** 0xda: reset ESP, with optional boot mode
    case 0xda:
-      set_esp_mode(ESP_DISABLED);
+      current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
      delay(1000000);
      if (setup->b.wValue.w == 1U) {
-        set_esp_mode(ESP_BOOTMODE);
+        current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
      } else {
-        set_esp_mode(ESP_ENABLED);
+        current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
      }
      delay(1000000);
-      set_esp_mode(ESP_ENABLED);
+      current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
      break;
-    // **** 0xdb: set GMLAN multiplexing mode
+    // **** 0xdb: set GMLAN (white/grey) or OBD CAN (black) multiplexing mode
    case 0xdb:
-      if (setup->b.wValue.w == 1U) {
-        // GMLAN ON
-        if (setup->b.wIndex.w == 1U) {
-          can_set_gmlan(1);
-        } else if (setup->b.wIndex.w == 2U) {
-          can_set_gmlan(2);
+      if(hw_type == HW_TYPE_BLACK_PANDA){
+        if (setup->b.wValue.w == 1U) {
+          // Enable OBD CAN
+          current_board->set_can_mode(CAN_MODE_OBD_CAN2);
        } else {
-          puts("Invalid bus num for GMLAN CAN set\n");
-        }
+          // Disable OBD CAN
+          current_board->set_can_mode(CAN_MODE_NORMAL);
+        }        
      } else {
-        can_set_gmlan(-1);
+        if (setup->b.wValue.w == 1U) {
+          // GMLAN ON
+          if (setup->b.wIndex.w == 1U) {
+            can_set_gmlan(1);
+          } else if (setup->b.wIndex.w == 2U) {
+            can_set_gmlan(2);
+          } else {
+            puts("Invalid bus num for GMLAN CAN set\n");
+          }
+        } else {
+          can_set_gmlan(-1);
+        }
      }
      break;
+      
    // **** 0xdc: set safety mode
    case 0xdc:
-      // this is the only way to leave silent mode
-      // and it's blocked over WiFi
-      // Allow ELM security mode to be set over wifi.
+      // Blocked over WiFi.
+      // Allow NOOUTPUT and ELM security mode to be set over wifi.
      if (hardwired || (setup->b.wValue.w == SAFETY_NOOUTPUT) || (setup->b.wValue.w == SAFETY_ELM327)) {
-        int err = safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
-        if (err == -1) {
-          puts("Error: safety set mode failed\n");
-        } else {
-          #ifndef EON
-            // always LIVE on EON
-            switch (setup->b.wValue.w) {
-              case SAFETY_NOOUTPUT:
-                can_silent = ALL_CAN_SILENT;
-                break;
-              case SAFETY_ELM327:
-                can_silent = ALL_CAN_BUT_MAIN_SILENT;
-                break;
-              default:
-                can_silent = ALL_CAN_LIVE;
-                break;
-            }
-          #endif
-          if (safety_ignition_hook() != -1) {
-            // if the ignition hook depends on something other than the started GPIO
-            // we have to disable power savings (fix for GM and Tesla)
-            set_power_save_state(POWER_SAVE_STATUS_DISABLED);
-          } else {
-            // power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
-          }
-          can_init_all();
-        }
+        set_safety_mode(setup->b.wValue.w, (uint16_t) setup->b.wIndex.w);
      }
      break;
    // **** 0xdd: enable can forwarding
@@ -416,15 +460,18 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      break;
    // **** 0xe6: set USB power
    case 0xe6:
-      if (setup->b.wValue.w == 1U) {
+      if (setup->b.wValue.w == 0U) {
+        puts("user setting NONE mode\n");
+        current_board->set_usb_power_mode(USB_POWER_NONE);
+      } else if (setup->b.wValue.w == 1U) {
        puts("user setting CDP mode\n");
-        set_usb_power_mode(USB_POWER_CDP);
+        current_board->set_usb_power_mode(USB_POWER_CDP);
      } else if (setup->b.wValue.w == 2U) {
        puts("user setting DCP mode\n");
-        set_usb_power_mode(USB_POWER_DCP);
+        current_board->set_usb_power_mode(USB_POWER_DCP);
      } else {
        puts("user setting CLIENT mode\n");
-        set_usb_power_mode(USB_POWER_CLIENT);
+        current_board->set_usb_power_mode(USB_POWER_CLIENT);
      }
      break;
    // **** 0xf0: do k-line wValue pulse on uart2 for Acura
@@ -482,6 +529,12 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
        }
        break;
      }
+    // **** 0xf3: Heartbeat. Resets heartbeat counter.
+    case 0xf3:
+      {
+        heartbeat_counter = 0U;
+        break;
+      }
    default:
      puts("NO HANDLER ");
      puth(setup->b.bRequest);
@@ -536,78 +589,21 @@ void __attribute__ ((noinline)) enable_fpu(void) {
 }

 uint64_t tcnt = 0;
-uint64_t marker = 0;
+
+// go into NOOUTPUT when the EON does not send a heartbeat for this amount of seconds.
+#define EON_HEARTBEAT_THRESHOLD_IGNITION_ON 5U
+#define EON_HEARTBEAT_THRESHOLD_IGNITION_OFF 2U

 // called once per second
 // cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
 void TIM3_IRQHandler(void) {
-  #define CURRENT_THRESHOLD 0xF00U
-  #define CLICKS 5U // 5 seconds to switch modes
-
  if (TIM3->SR != 0) {
    can_live = pending_can_live;

+    current_board->usb_power_mode_tick(tcnt);
+
    //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");

-    uint32_t current = adc_get(ADCCHAN_CURRENT);
-
-    switch (usb_power_mode) {
-      case USB_POWER_CLIENT:
-        if ((tcnt - marker) >= CLICKS) {
-          if (!is_enumerated) {
-            puts("USBP: didn't enumerate, switching to CDP mode\n");
-            // switch to CDP
-            set_usb_power_mode(USB_POWER_CDP);
-            marker = tcnt;
-          }
-        }
-        // keep resetting the timer if it's enumerated
-        if (is_enumerated) {
-          marker = tcnt;
-        }
-        break;
-      case USB_POWER_CDP:
-        // On the EON, if we get into CDP mode we stay here. No need to go to DCP.
-        #ifndef EON
-          // been CLICKS clicks since we switched to CDP
-          if ((tcnt-marker) >= CLICKS) {
-            // measure current draw, if positive and no enumeration, switch to DCP
-            if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
-              puts("USBP: no enumeration with current draw, switching to DCP mode\n");
-              set_usb_power_mode(USB_POWER_DCP);
-              marker = tcnt;
-            }
-          }
-          // keep resetting the timer if there's no current draw in CDP
-          if (current >= CURRENT_THRESHOLD) {
-            marker = tcnt;
-          }
-        #endif
-        break;
-      case USB_POWER_DCP:
-        // been at least CLICKS clicks since we switched to DCP
-        if ((tcnt-marker) >= CLICKS) {
-          // if no current draw, switch back to CDP
-          if (current >= CURRENT_THRESHOLD) {
-            puts("USBP: no current draw, switching back to CDP mode\n");
-            set_usb_power_mode(USB_POWER_CDP);
-            marker = tcnt;
-          }
-        }
-        // keep resetting the timer if there's current draw in DCP
-        if (current < CURRENT_THRESHOLD) {
-          marker = tcnt;
-        }
-        break;
-      default:
-        puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
-        break;
-    }
-
-    // ~0x9a = 500 ma
-    /*puth(current);
-    puts("\n");*/
-
    // reset this every 16th pass
    if ((tcnt & 0xFU) == 0U) {
      pending_can_live = 0;
@@ -620,11 +616,24 @@ void TIM3_IRQHandler(void) {
    #endif

    // set green LED to be controls allowed
-    set_led(LED_GREEN, controls_allowed);
+    current_board->set_led(LED_GREEN, controls_allowed);

    // turn off the blue LED, turned on by CAN
    // unless we are in power saving mode
-    set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
+    current_board->set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
+
+    // increase heartbeat counter and cap it at the uint32 limit
+    if (heartbeat_counter < __UINT32_MAX__) {
+      heartbeat_counter += 1U;
+    }
+
+    // check heartbeat counter if we are running EON code. If the heartbeat has been gone for a while, go to NOOUTPUT safety mode.
+    #ifdef EON
+    if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_THRESHOLD_IGNITION_ON : EON_HEARTBEAT_THRESHOLD_IGNITION_OFF)) {
+      puts("EON hasn't sent a heartbeat for 0x"); puth(heartbeat_counter); puts(" seconds. Safety is set to NOOUTPUT mode.\n");
+      set_safety_mode(SAFETY_NOOUTPUT, 0U);
+    }
+    #endif

    // on to the next one
    tcnt += 1U;
@@ -634,30 +643,31 @@ void TIM3_IRQHandler(void) {

 int main(void) {
  // shouldn't have interrupts here, but just in case
-  __disable_irq();
+  disable_interrupts();

  // init early devices
  clock_init();
-  periph_init();
-  detect();
-
+  peripherals_init();
+  detect_configuration();
+  detect_board_type();
+  adc_init();
+  
  // print hello
  puts("\n\n\n************************ MAIN START ************************\n");

-  // detect the revision and init the GPIOs
-  puts("config:\n");
-  puts((revision == PANDA_REV_C) ? "  panda rev c\n" : "  panda rev a or b\n");
-  puts(has_external_debug_serial ? "  real serial\n" : "  USB serial\n");
-  puts(is_giant_panda ? "  GIANTpanda detected\n" : "  not GIANTpanda\n");
-  puts(is_grey_panda ? "  gray panda detected!\n" : "  white panda\n");
-  puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  no bootmode\n");
-
-  // non rev c panda are no longer supported
-  while (revision != PANDA_REV_C) {
-    // hang
+  // check for non-supported board types
+  if(hw_type == HW_TYPE_UNKNOWN){
+    puts("Unsupported board type\n");
+    while (1) { /* hang */ }
  }

-  gpio_init();
+  puts("Config:\n");
+  puts("  Board type: "); puts(current_board->board_type); puts("\n");
+  puts(has_external_debug_serial ? "  Real serial\n" : "  USB serial\n");
+  puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  No bootmode\n");
+
+  // init board
+  current_board->init();

  // panda has an FPU, let's use it!
  enable_fpu();
@@ -669,18 +679,21 @@ int main(void) {
    uart_init(USART2, 115200);
  }

-  if (is_grey_panda) {
+  if (board_has_gps()) {
    uart_init(USART1, 9600);
  } else {
    // enable ESP uart
    uart_init(USART1, 115200);
  }

-  // enable LIN
-  uart_init(UART5, 10400);
-  UART5->CR2 |= USART_CR2_LINEN;
-  uart_init(USART3, 10400);
-  USART3->CR2 |= USART_CR2_LINEN;
+  // there is no LIN on panda black
+  if(hw_type != HW_TYPE_BLACK_PANDA){
+    // enable LIN
+    uart_init(UART5, 10400);
+    UART5->CR2 |= USART_CR2_LINEN;
+    uart_init(USART3, 10400);
+    USART3->CR2 |= USART_CR2_LINEN;
+  }

  // init microsecond system timer
  // increments 1000000 times per second
@@ -690,9 +703,6 @@ int main(void) {
  TIM2->EGR = TIM_EGR_UG;
  // use TIM2->CNT to read

-  // enable USB
-  usb_init();
-
  // default to silent mode to prevent issues with Ford
  // hardcode a specific safety mode if you want to force the panda to be in a specific mode
  int err = safety_set_mode(SAFETY_NOOUTPUT, 0);
@@ -702,31 +712,22 @@ int main(void) {
      // if SAFETY_NOOUTPUT isn't succesfully set, we can't continue
    }
  }
-#ifdef EON
-  // if we're on an EON, it's fine for CAN to be live for fingerprinting
-  can_silent = ALL_CAN_LIVE;
-#else
  can_silent = ALL_CAN_SILENT;
-#endif
  can_init_all();

-  adc_init();
-
 #ifndef EON
  spi_init();
 #endif

 #ifdef EON
  // have to save power
-  if (!is_grey_panda) {
-    set_esp_mode(ESP_DISABLED);
+  if (hw_type == HW_TYPE_WHITE_PANDA) {
+    current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
  }
  // only enter power save after the first cycle
-  /*if (is_gpio_started()) {
+  /*if (current_board->check_ignition()) {
    set_power_save_state(POWER_SAVE_STATUS_ENABLED);
  }*/
-  // interrupt on started line
-  started_interrupt_init();
 #endif

  // 48mhz / 65536 ~= 732 / 732 = 1
@@ -736,6 +737,8 @@ int main(void) {
 #ifdef DEBUG
  puts("DEBUG ENABLED\n");
 #endif
+  // enable USB (right before interrupts or enum can fail!)
+  usb_init();

  puts("**** INTERRUPTS ON ****\n");
  enable_interrupts();
@@ -751,9 +754,9 @@ int main(void) {
      for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) {
        for (int fade = 0; fade < 1024; fade += 8) {
          for (int i = 0; i < (128/div_mode); i++) {
-            set_led(LED_RED, 1);
+            current_board->set_led(LED_RED, 1);
            if (fade < 512) { delay(fade); } else { delay(1024-fade); }
-            set_led(LED_RED, 0);
+            current_board->set_led(LED_RED, 0);
            if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
          }
        }
@@ -765,4 +768,3 @@ int main(void) {

  return 0;
 }
-
--- a/panda/board/main_declarations.h
+++ b/panda/board/main_declarations.h
@@ -0,0 +1,14 @@
+// ******************** Prototypes ********************
+void puts(const char *a);
+void puth(unsigned int i);
+void puth2(unsigned int i);
+typedef struct board board;
+typedef struct harness_configuration harness_configuration;
+void can_flip_buses(uint8_t bus1, uint8_t bus2);
+void can_set_obd(uint8_t harness_orientation, bool obd);
+
+// ********************* Globals **********************
+uint8_t hw_type = 0;
+const board *current_board;
+bool is_enumerated = 0;
+uint32_t heartbeat_counter = 0;
--- a/panda/board/pedal/main.c
+++ b/panda/board/pedal/main.c
@@ -1,14 +1,20 @@
+// ********************* Includes *********************
 #include "../config.h"
+#include "libc.h"
+
+#include "main_declarations.h"

 #include "drivers/llcan.h"
 #include "drivers/llgpio.h"
-#include "drivers/clock.h"
 #include "drivers/adc.h"
+
+#include "board.h"
+
+#include "drivers/clock.h"
 #include "drivers/dac.h"
 #include "drivers/timer.h"

 #include "gpio.h"
-#include "libc.h"

 #define CAN CAN1

@@ -25,6 +31,9 @@
  void puth(unsigned int i) {
    UNUSED(i);
  }
+  void puth2(unsigned int i) {
+    UNUSED(i);
+  }
 #endif

 #define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
@@ -46,18 +55,18 @@ void debug_ring_callback(uart_ring *ring) {
  }
 }

-int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
+int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
  UNUSED(usbdata);
  UNUSED(len);
  UNUSED(hardwired);
  return 0;
 }
-void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
  UNUSED(usbdata);
  UNUSED(len);
  UNUSED(hardwired);
 }
-void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
+void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
  UNUSED(usbdata);
  UNUSED(len);
  UNUSED(hardwired);
@@ -180,7 +189,7 @@ void CAN1_RX0_IRQHandler(void) {
        if (((current_index + 1U) & COUNTER_CYCLE) == index) {
          #ifdef DEBUG
            puts("setting gas ");
-            puth(value);
+            puth(value_0);
            puts("\n");
          #endif
          if (enable) {
@@ -257,7 +266,7 @@ void TIM3_IRQHandler(void) {
  }

  // blink the LED
-  set_led(LED_GREEN, led_value);
+  current_board->set_led(LED_GREEN, led_value);
  led_value = !led_value;

  TIM3->SR = 0;
@@ -290,12 +299,16 @@ void pedal(void) {
 }

 int main(void) {
-  __disable_irq();
+  disable_interrupts();

  // init devices
  clock_init();
-  periph_init();
-  gpio_init();
+  peripherals_init();
+  detect_configuration();
+  detect_board_type();
+
+  // init board
+  current_board->init();

 #ifdef PEDAL_USB
  // enable USB
@@ -321,7 +334,7 @@ int main(void) {
  watchdog_init();

  puts("**** INTERRUPTS ON ****\n");
-  __enable_irq();
+  enable_interrupts();

  // main pedal loop
  while (1) {
--- a/Show More
+++ b/Show More