bug fix

Merge branch 'devel-en' into devel-zht
Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en
2026-06-22 22:42:05 +08:00 · 2019-11-15 18:31:03 +10:00 · 2019-11-15 16:17:44 +10:00 · 2019-11-15 09:25:54 +10:00 · 2019-11-15 09:11:54 +10:00 · 2019-11-15 09:10:53 +10:00
592 changed files with 26125 additions and 10092 deletions
@@ -0,0 +1,25 @@
+---
+name: Bug report
+about: Create a report to help us improve openpilot
+title: ''
+labels: 'bug'
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**How to reproduce or log data**
+Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+** Device/Version information (please complete the following information):**
+ - Device: [e.g. EON/EON Gold]
+ - Version: [e.g. 0.6.4], or commit hash when on devel
+ - Car make/model [e.g. Toyota Prius 2016]
+
+**Additional context**
+Add any other context about the problem here.
@@ -0,0 +1,21 @@
+Choose one of the templates below:
+
+# Fingerprint
+This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
+
+This is an explorer link to a drive with the stock system enabled: ...
+
+# Car support
+This pull requests adds support for <Make - Model - Year - Trim>.
+
+This is an explorer link to a drive with the stock system enabled: ...
+This is an explorer link to a drive with openpilot system enabled: ...
+
+# Feature
+This pull requests adds feature X
+
+## Description
+Explain what the feature does
+
+## Testing
+Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
@@ -4,6 +4,7 @@ venv/
 .ipynb_checkpoints
 .idea
 .sconsign.dblite
+.vscode
 model2.png
 a.out

@@ -30,7 +31,7 @@ selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
-selfdrive/test/tests/plant/out
+selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
 selfdrive/sensord/gpsd
@@ -39,5 +40,9 @@ selfdrive/sensord/sensord

 one
 openpilot
+notebooks
 xx

+.coverage*
+htmlcov
+
@@ -6,43 +6,66 @@ RUN apt-get update && apt-get install -y \
    build-essential \
    bzip2 \
    clang \
+    cmake \
+    curl \
+    ffmpeg \
    git \
    libarchive-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavfilter-dev \
-    libavresample-dev \
-    libavutil-dev \
+    libbz2-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
    libffi-dev \
+    libglew-dev \
    libglib2.0-0 \
+    liblzma-dev \
+    libmysqlclient-dev \
+    libomp-dev \
+    libopencv-dev \
    libssl-dev \
-    libswscale-dev \
    libtool \
    libusb-1.0-0 \
    libzmq5-dev \
+    locales \
    ocl-icd-libopencl1 \
    ocl-icd-opencl-dev \
    opencl-headers \
-    pkg-config \
+    python-dev \
    python-pip \
+    screen \
+    sudo \
+    vim \
    wget

-COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
-RUN /tmp/install_capnp.sh

-RUN pip install --upgrade pip==18.0
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+
 RUN pip install pipenv==2018.11.26

 COPY Pipfile /tmp/
 COPY Pipfile.lock /tmp/
-RUN cd /tmp && pipenv install --deploy --system

-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+RUN python --version
+RUN cd /tmp && pipenv install --system --deploy

-RUN git clone --branch v0.6  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
+# Install subset of dev dependencies needed for CI
+RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3

+COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
+RUN /tmp/install_capnp.sh
+
+RUN git clone --branch v0.6.5 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+
+ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
 COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal
@@ -4,16 +4,17 @@ url = "https://pypi.org/simple"
 verify_ssl = true

 [dev-packages]
-ipython = "<6.0"
-aenum = "*"
-azure-batch = "==4.1.3"
-azure-common = "==1.1.16"
-azure-nspkg = "==3.0.1"
-azure-storage-blob = "==1.3.1"
-azure-storage-common = "==1.3.0"
-azure-storage-nspkg = "==3.0.0"
+opencv-python= "==3.4.2.17"
+PyQt5 = "*"
+ipython = "*"
+networkx = "*"
+azure-common = "*"
+azure-nspkg = "*"
+azure-storage-blob = "*"
+azure-storage-common = "*"
+azure-storage-nspkg = "*"
 bincopy = "*"
-bleach = "==1.5.0"
+bleach = "*"
 boto = "*"
 "boto3" = "*"
 celery = "*"
@@ -23,7 +24,6 @@ decorator = "*"
 dlib = "*"
 dominate = "*"
 elasticsearch = "*"
-entium = "==0.1.4"
 fasteners = "*"
 future = "*"
 futures = "*"
@@ -32,32 +32,31 @@ pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory =
 gunicorn = "*"
 "h5py" = "*"
 hexdump = "*"
-"html5lib" = "==0.9999999"
+"html5lib" = "*"
 imageio = "*"
 intervaltree = "*"
-ipykernel = "<5.0"
+ipykernel = "*"
 joblib = "*"
 json-logging-py = "*"
 jupyter = "*"
 libarchive = "*"
 lru-dict = "*"
 lxml = "*"
-matplotlib = "==2.2.3"
 "mpld3" = "*"
 msgpack-python = "*"
 nbstripout = "*"
 nose-parameterized = "*"
-numpy = "==1.14.5"
-osmium = "==2.15.0"
-pbr = "==5.1.3"
+numpy = "*"
+osmium = "*"
+pbr = "*"
 percache = "*"
 pprofile = "*"
 psutil = "*"
 pycurl = "*"
-git-pylint-commit-hook = "==2.5.1"
+git-pylint-commit-hook = "*"
 pymongo = "*"
 "pynmea2" = "*"
-pypolyline = "==0.1.17"
+pypolyline = "*"
 pysendfile = "*"
 python-logstash = "*"
 pyvcd = "*"
@@ -68,11 +67,9 @@ scikit-image = "*"
 "subprocess32" = "*"
 supervisor = "*"
 tenacity = "*"
-tensorflow-gpu = "==1.13.0rc0"
-"transforms3d" = "*"
+tensorflow-gpu = ""
 utm = "*"
 "v4l2" = "*"
-visdom = "*"
 PyJWT = "==1.4.1"
 PyMySQL = "==0.9.2"
 Theano = "*"
@@ -81,26 +78,29 @@ Werkzeug = "*"
 Flask-Cors = "*"
 Flask-SocketIO = "*"
 "GeoAlchemy2" = "*"
-Keras = ">=2.1.6"
-keras-maskrcnn = "*"
-keras-retinanet = "*"
 Pygments = "*"
 PyNaCl = "*"
 "PySDL2" = "*"
 reverse_geocoder = "*"
 Shapely = "*"
-SQLAlchemy = "==1.2.7"
+SQLAlchemy = "*"
 uWSGI = "*"
 scipy = "*"
-fastcluster = "==1.1.25"
+fastcluster = "*"
 backports-abc = "*"
 pygame = "*"
 simplejson = "*"
 python-logstash-async = "*"
-pandas = "*"
 seaborn = "*"
-tensorflow-estimator = "==1.10.12"
+tensorflow-estimator = "*"
 pyproj = "*"
+mock = "*"
+blinker = "*"
+gast = "==0.2.2"
+matplotlib = "*"
+dictdiffer = "*"
+aenum = "*"
+coverage = "*"

 [packages]
 overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
@@ -126,7 +126,7 @@ tqdm = "*"
 Cython = "*"
 PyYAML = "*"
 websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
 urllib3 = "*"
 chardet = "*"
 idna = "*"
@@ -137,9 +137,10 @@ Flask = "*"
 PyJWT = "*"
 "Jinja2" = "*"
 nose = "*"
-pyflakes = "*"
+flake8 = "*"
 pylint = "*"
 pycryptodome = "*"
+pillow = "*"

 [requires]
-python_version = "2.7"
+python_version = "3.7.3"
@@ -3,7 +3,7 @@
 Welcome to openpilot
 ======

-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia, Subaru, Volkswagen. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

 The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.

@@ -29,119 +29,127 @@ Community

 openpilot is developed by [comma.ai](https://comma.ai/) and users like you.

-We have a [Twitter you should follow](https://twitter.com/comma_ai).
-
-Also, we have a several thousand people community on [Discord](https://discord.comma.ai).
+[Follow us on Twitter](https://twitter.com/comma_ai) and [join our Discord](https://discord.comma.ai).

 <table>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
  </tr>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
  </tr>
 </table>

 Hardware
 ------

-At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.
+At the moment openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON to the car. We'd like to support other platforms as well.

 Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.

 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 2018-19           | 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                | 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 |
+| ----------------------| -----------------------------------| ---------------------| --------| ---------------| -----------------| ---------------|
+| Acura                 | ILX 2016-18                        | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura                 | RDX 2016-18                        | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Buick<sup>3</sup>     | Regal 2018<sup>6</sup>             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Chevrolet<sup>3</sup> | Malibu 2017<sup>6</sup>            | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Chevrolet<sup>3</sup> | Volt 2017-18<sup>6</sup>           | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Cadillac<sup>3</sup>  | ATS 2018                           | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Chrysler              | Pacifica 2017-18<sup>7</sup>       | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           |
+| Chrysler              | Pacifica Hybrid 2017-18<sup>7</sup>| Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           |
+| Chrysler              | Pacifica Hybrid 2019<sup>7</sup>   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          |
+| GMC<sup>3</sup>       | Acadia Denali 2018<sup>6</sup>     | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Holden<sup>3</sup>    | Astra 2017<sup>6</sup>             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Honda                 | Accord 2018-19                     | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda                 | Accord Hybrid 2018-19              | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda                 | Civic Sedan/Coupe 2016-18          | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda                 | Civic Sedan/Coupe 2019             | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           |
+| Honda                 | Civic Hatchback 2017-19            | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                 | CR-V 2015-16                       | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | CR-V 2017-19                       | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                 | CR-V Hybrid 2017-2019              | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                 | Fit 2018-19                        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | Odyssey 2018-19                    | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda                 | Passport 2019                      | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | Pilot 2016-18                      | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | Pilot 2019                         | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | Ridgeline 2017-19                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Hyundai               | Santa Fe 2019<sup>5</sup>          | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Hyundai               | Elantra 2017-19<sup>5</sup>        | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          |
+| Hyundai               | Genesis 2018<sup>5</sup>           | All                  | Yes     | Stock          | 19mph            | 34mph          |
+| Jeep                  | Grand Cherokee 2016-18<sup>7</sup> | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           |
+| Jeep                  | Grand Cherokee 2019<sup>7</sup>    | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          |
+| Kia                   | Optima 2019<sup>5</sup>            | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           |
+| Kia                   | Sorento 2018<sup>5</sup>           | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Kia                   | Stinger 2018<sup>5</sup>           | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           |
+| Lexus                 | CT Hybrid 2017-18                  | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus                 | ES Hybrid 2019                     | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Lexus                 | RX Hybrid 2016-19                  | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus                 | IS 2017-2019                       | All                  | Yes     | Stock          | 22mph            | 0mph           |
+| Lexus                 | IS Hybrid 2017                     | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Subaru                | Crosstrek 2018-19                  | EyeSight             | Yes     | Stock          | 0mph             | 0mph           |
+| Subaru                | Impreza 2019-20                    | EyeSight             | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota                | Avalon 2016                        | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Avalon 2017-18                     | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Camry 2018-19                      | All                  | Yes     | Stock          | 0mph<sup>4</sup> | 0mph           |
+| Toyota                | Camry Hybrid 2018-19               | All                  | Yes     | Stock          | 0mph<sup>4</sup> | 0mph           |
+| Toyota                | C-HR 2017-19                       | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota                | C-HR Hybrid 2017-19                | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota                | Corolla 2017-19                    | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Corolla 2020                       | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Toyota                | Corolla Hatchback 2019             | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Toyota                | Corolla Hybrid 2020                | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Toyota                | Highlander 2017-19                 | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Highlander Hybrid 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Prius 2016                         | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Prius 2017-19                      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Prius Prime 2017-20                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Rav4 2016                          | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Rav4 2017-18                       | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Rav4 2019                          | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Toyota                | Rav4 Hybrid 2016                   | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Rav4 Hybrid 2017-18                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Sienna 2018                        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Volkswagen<sup>8</sup>| Golf 2016-19                       | Driver Assistance    | Yes     | Stock          | 0mph             | 0mph           |

 <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>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 />
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <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>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>5</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
+<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and community built giraffe, find more information [here](https://zoneos.com/shop/). <br />
+<sup>7</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and FCA [giraffe](https://comma.ai/shop/products/giraffe) <br />
+<sup>8</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_J533_Gateway) for the [car harness](https://comma.ai/shop/products/car-harness) <br />

 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>|
+| Make                 | Model (US Market Reference)        | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| ---------------------| -----------------------------------| ---------------------| --------| ---------------| -----------------| ---------------|
+| Tesla                | Model S 2012-13<sup>9</sup>        | All                  | Yes     | NA             | NA               | 0mph           |

-[[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 />
+<sup>9</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and community built giraffe, find more information [here](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla). <br />

 Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

 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 Kia, Genesis with SCC and LKAS.
 - All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
+- All Subaru with EyeSight.
+- All Volkswagen, Audi, Škoda and SEAT with Adaptive Cruise Control.

 How can I add support for my car?
 ------
@@ -196,7 +204,7 @@ It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, cr
 The user facing camera is only logged if you explicitly opt-in in settings.
 It does not log the microphone.

-By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+By using it, you agree to [our privacy policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.

 Testing on PC
 ------
@@ -1,3 +1,51 @@
+Version 0.6.6 (2019-11-05)
+========================
+ * Volkswagen support thanks to jyoung8607!
+ * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
+ * Lexus ES with TSS 2.0 support thanks to energee!
+ * Fix GM ignition detection and lock safety mode not required anymore
+ * Log panda firmware and dongle ID thanks to martinl!
+ * New driving model: improve path prediction and lead detection
+ * New driver monitoring model, 4x smaller and running on DSP
+ * Display an alert and don't start openpilot if panda has wrong firmware
+ * Fix bug preventing EON from terminating processes after a drive
+ * Remove support for Toyota giraffe without the 120Ohm resistor
+
+Version 0.6.5 (2019-10-07)
+========================
+ * NEOS update: upgrade to Python3 and new installer!
+ * comma Harness support!
+ * New driving model: improve path prediction
+ * New driver monitoring model: more accurate face and eye detection
+ * Redesign offroad screen to display updates and alerts
+ * Increase maximum allowed acceleration
+ * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
+ * Lexus CT Hybrid support thanks to thomaspich!
+ * Louder chime for critical alerts
+ * Add toggle to switch to dashcam mode
+ * Fix "invalid vehicle params" error on DSU-less Toyota
+
+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!
@@ -27,7 +75,7 @@ Version 0.6 (2019-07-01)
 * Panda safety code is MISRA compliant and ships with a signed version on release2
 * New NEOS is 500MB smaller and has a reproducible usr/pipenv
 * Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS2
+ * Improve tuning for supported Toyota with TSS 2.0
 * Various other stability improvements

 Version 0.5.13 (2019-05-31)
@@ -1,8 +1,8 @@
 openpilot Safety
 ======

-openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
-Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
+openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
+Like other ACC and ALC systems, openpilot requires the driver to be alert and to 
 pay attention at all times. We repeat, **driver alertness is necessary, but not 
 sufficient, for openpilot to be used safely**.

@@ -93,7 +93,7 @@ GM/Chevrolet
    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
+    torque exceeds 12 units in the opposite direction to ensure limited applied torque against the
    driver's will.

  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
@@ -116,7 +116,7 @@ Hyundai/Kia (Lateral only)
    commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
    0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
+    torque exceeds 50 units in the opposite direction to ensure limited applied torque against the
    driver's will.

 Chrysler/Jeep/Fiat (Lateral only)
@@ -144,8 +144,31 @@ Subaru (Lateral only)
    commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
    0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
+    torque exceeds 60 units in the opposite direction to ensure limited applied torque against the
    driver's will.

+Volkswagen, Audi, SEAT, Škoda (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by the stock system, and
+    additional limits required to meet Comma safety standards.
+
+  - Steering torque is controlled through the CAN message 0x126, also known as HCA_01 for Heading Control Assist.
+    It's limited by openpilot and Panda to a value between -250 and 250, representing 2.5 Nm of torque applied 
+    at the steering rack. The vehicle EPS unit will fault for values outside -300 and 300.
+
+  - The vehicle EPS unit will tolerate any rate of increase or decrease, but may limit the effective rate of
+    change to 5.0 Nm/s. In accordance with the Comma AI safety model requirements, a rate limit is enforced by
+    the Panda firmware and by openpilot, so that the commanded steering torque cannot rise from 0 to maximum
+    faster than 1.25s. Commanded steering torque is gradually limited by the Panda firmware and by openpilot
+    if the driver's torque exceeds 0.8 Nm in the opposite direction to ensure limited applied torque against
+    the driver's will.
+
+  - Brake and gas pedal pressed signals are contained in the ESP_05 0x106 and Motor_20 0x121 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement and is enforced by openpilot.
+    The cancellation due to the rising edge of the gas pressed signal is also enforced by the Panda firmware. 
+    Additionally, the cruise control system disengages on the rising edge of the brake pedal pressed signal,
+    and it's enforced by both openpilot and the Panda firmware.
+
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
  not fully meeting the above requirements.
@@ -78,8 +78,16 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    commIssue @53;
    tooDistracted @54;
    posenetInvalid @55;
-    manualSteeringRequired @56;
-    manualSteeringRequiredBlinkersOn @57;
+    soundsUnavailable @56;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
+    invalidGiraffeToyota @60;
+    internetConnectivityNeeded @61;
+    manualSteeringRequired @62;
+    manualSteeringRequiredBlinkersOn @63;
+    leadCarMoving @64;
+    leadCarDetected @65;
  }
 }

@@ -111,6 +119,7 @@ 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
@@ -130,6 +139,9 @@ struct CarState {
  seatbeltUnlatched @25 :Bool;
  canValid @26 :Bool;

+  # clutch (manual transmission only)
+  clutchPressed @28 :Bool;
+
  # which packets this state came from
  canMonoTimes @12: List(UInt64);

@@ -158,6 +170,8 @@ struct CarState {
    sport @5;
    low @6;
    brake @7;
+    eco @8;
+    manumatic @9;
  }


@@ -176,6 +190,9 @@ struct CarState {
      altButton1 @6;
      altButton2 @7;
      altButton3 @8;
+      setCruise @9;
+      resumeCruise @10;
+      gapAdjustCruise @11;
    }
  }
 }
@@ -268,6 +285,7 @@ struct CarControl {
      wrongGear @4;
      seatbeltUnbuckled @5;
      speedTooHigh @6;
+      ldw @7;
    }

    enum AudibleAlert {
@@ -300,6 +318,7 @@ struct CarParams {
  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
  safetyModel @9 :SafetyModel;
+  safetyModelPassive @42 :SafetyModel = noOutput;
  safetyParam @10 :Int16;

  steerMaxBP @11 :List(Float32);
@@ -343,6 +362,8 @@ struct CarParams {
  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
  carVin @38 :Text; # VIN number queried during fingerprinting
  isPandaBlack @39: Bool;
+  dashcamOnly @41: Bool;
+  transmissionType @43 :TransmissionType;

  struct LateralPIDTuning {
    kpBP @0 :List(Float32);
@@ -383,9 +404,7 @@ struct CarParams {
    l @7 :List(Float32);  # Kalman gain
  }

-
  enum SafetyModel {
-    # does NOT match board setting
    noOutput @0;
    honda @1;
    toyota @2;
@@ -398,10 +417,23 @@ struct CarParams {
    chrysler @9;
    tesla @10;
    subaru @11;
+    gmPassive @12;
+    mazda @13;
+    nissan @14;
+    volkswagen @15;
+    toyotaIpas @16;
+    allOutput @17;
+    gmAscm @18;
  }

  enum SteerControlType {
    torque @0;
    angle @1;
  }
+
+  enum TransmissionType {
+    unknown @0;
+    automatic @1;
+    manual @2;
+  }
 }
@@ -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
@@ -297,7 +298,7 @@ struct HealthData {
  # from can health
  voltage @0 :UInt32;
  current @1 :UInt32;
-  started @2 :Bool;
+  ignitionLine @2 :Bool;
  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
  startedSignalDetectedDeprecated @5 :Bool;
@@ -305,7 +306,11 @@ struct HealthData {
  canSendErrs @7 :UInt32;
  canFwdErrs @8 :UInt32;
  gmlanSendErrs @9 :UInt32;
-  hwType @10: HwType;
+  hwType @10 :HwType;
+  fanSpeedRpm @11 :UInt16;
+  usbPowerMode @12 :UsbPowerMode;
+  ignitionCan @13 :Bool;
+  safetyModel @14 :Car.CarParams.SafetyModel;

  enum HwType {
    unknown @0;
@@ -313,6 +318,14 @@ struct HealthData {
    greyPanda @2;
    blackPanda @3;
    pedal @4;
+    uno @5;
+  }
+
+  enum UsbPowerMode {
+    none @0;
+    client @1;
+    cdp @2;
+    dcp @3;
  }
 }

@@ -439,9 +452,10 @@ 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;
@@ -515,8 +529,10 @@ struct ControlsState @0x97ff69c53601abf1 {
    steerAngle @1 :Float32;
    i @2 :Float32;
    output @3 :Float32;
+    lqrOutput @4 :Float32;
   }

+
 }

 struct LiveEventData {
@@ -526,6 +542,7 @@ struct LiveEventData {

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

  path @1 :PathData;
  leftLane @2 :PathData;
@@ -696,6 +713,32 @@ 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 {
@@ -1681,6 +1724,9 @@ struct DriverMonitoring {
  faceProb @5 :Float32;
  leftEyeProb @6 :Float32;
  rightEyeProb @7 :Float32;
+  leftBlinkProb @8 :Float32;
+  rightBlinkProb @9 :Float32;
+  irPwr @10 :Float32;
 }

 struct Boot {
@@ -1723,6 +1769,8 @@ 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
@@ -1,6 +1,7 @@
 #!/bin/bash

-pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+# Only pyflakes checks (--select=F)
+flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
 RESULT=$?
 if [ $RESULT -eq 0 ]; then
    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
@@ -1,7 +1,34 @@
+import jwt
 import requests
+from datetime import datetime, timedelta

 from selfdrive.version import version

+class Api():
+  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').decode('utf8')
+
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"

@@ -0,0 +1,23 @@
+import os
+import sysconfig
+from Cython.Distutils import build_ext
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
@@ -17,10 +17,10 @@ DBCSignal = namedtuple(
                "factor", "offset", "tmin", "tmax", "units"])


-class dbc(object):
+class dbc():
  def __init__(self, fn):
    self.name, _ = os.path.splitext(os.path.basename(fn))
-    with open(fn) as f:
+    with open(fn, encoding="ascii") as f:
      self.txt = f.readlines()
    self._warned_addresses = set()

@@ -41,7 +41,7 @@ class dbc(object):
    self.def_vals = defaultdict(list)

    # lookup to bit reverse each byte
-    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in range(64)]

    for l in self.txt:
      l = l.strip()
@@ -101,13 +101,8 @@ class dbc(object):
        defvals = defvals.replace("?",r"\?") #escape sequence in C++
        defvals = defvals.split('"')[:-1]

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

        self.def_vals[ids].append((sgname, defvals))
@@ -152,22 +147,20 @@ class dbc(object):
      ival = dd.get(s.name)
      if ival is not None:

-        b2 = s.size
-        if s.is_little_endian:
-          b1 = s.start_bit
-        else:
-          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
-        bo = 64 - (b1 + s.size)
-
        ival = (ival / s.factor) - s.offset
        ival = int(round(ival))

        if s.is_signed and ival < 0:
-          ival = (1 << b2) + ival
+          ival = (1 << s.size) + ival

-        shift = b1 if s.is_little_endian else bo
-        mask = ((1 << b2) - 1) << shift
-        dat = (ival & ((1 << b2) - 1)) << shift
+        if s.is_little_endian:
+          shift = s.start_bit
+        else:
+          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
+          shift = 64 - (b1 + s.size)
+
+        mask = ((1 << s.size) - 1) << shift
+        dat = (ival & ((1 << s.size) - 1)) << shift

        if s.is_little_endian:
          mask = self.reverse_bytes(mask)
@@ -213,7 +206,7 @@ class dbc(object):
    if debug:
      print(name)

-    st = x[2].ljust(8, '\x00')
+    st = x[2].ljust(8, b'\x00')
    le, be = None, None

    for s in msg[1]:
@@ -227,30 +220,24 @@ class dbc(object):
      factor = s[5]
      offset = s[6]

-      b2 = signal_size
-      if little_endian:
-        b1 = start_bit
-      else:
-        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
-      bo = 64 - (b1 + signal_size)
-
      if little_endian:
        if le is None:
          le = struct.unpack("<Q", st)[0]
-        shift_amount = b1
        tmp = le
+        shift_amount = start_bit
      else:
        if be is None:
          be = struct.unpack(">Q", st)[0]
-        shift_amount = bo
        tmp = be
+        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
+        shift_amount = 64 - (b1 + signal_size)

      if shift_amount < 0:
        continue

-      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
-      if signed and (tmp >> (b2 - 1)):
-        tmp -= (1 << b2)
+      tmp = (tmp >> shift_amount) & ((1 << signal_size) - 1)
+      if signed and (tmp >> (signal_size - 1)):
+        tmp -= (1 << signal_size)

      tmp = tmp * factor + offset

@@ -9,7 +9,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
  if libraries is None:
    libraries = []

-  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
+  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
  try:
    os.mkdir(tmpdir)
  except OSError:
@@ -24,24 +24,15 @@ 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):
+class AutoMoveTempdir():
  def __init__(self, target_path, temp_dir=None):
    self._target_path = target_path
    self._path = tempfile.mkdtemp(dir=temp_dir)
@@ -61,7 +52,7 @@ class AutoMoveTempdir(object):
    else:
      shutil.rmtree(self._path)

-class NamedTemporaryDir(object):
+class NamedTemporaryDir():
  def __init__(self, temp_dir=None):
    self._path = tempfile.mkdtemp(dir=temp_dir)

@@ -1,7 +1,7 @@
 all: simple_kalman_impl.so

 simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
-	python2 simple_kalman_setup.py build_ext --inplace
+	python3 simple_kalman_setup.py build_ext --inplace
 	rm -rf build
 	rm simple_kalman_impl.c

@@ -5,6 +5,5 @@ import subprocess
 kalman_dir = os.path.dirname(os.path.abspath(__file__))
 subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)

-from simple_kalman_impl import KF1D as KF1D
-# Silence pyflakes
+from .simple_kalman_impl import KF1D as KF1D
 assert KF1D
@@ -1,3 +1,4 @@
+# cython: language_level=3

 cdef class KF1D:
  def __init__(self, x0, A, C, K):
@@ -32,4 +33,4 @@ cdef class KF1D:
  @x.setter
  def x(self, x):
    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]
+    self.x1_0 = x[1][0]
@@ -1,5 +1,9 @@
-from distutils.core import setup, Extension
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
 from Cython.Build import cythonize

+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
 setup(name='Simple Kalman Implementation',
-      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
@@ -12,7 +12,10 @@ def interp(x, xp, fp):
      hi += 1
    low = hi - 1
    return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 else 
+      fp[0] if hi == 0 else
      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
  return [get_interp(v) for v in x] if hasattr(
    x, '__iter__') else get_interp(x)
+
+def mean(x):
+  return sum(x) / len(x)
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 """ROS has a parameter server, we have files.

 The parameter store is a persistent key value store, implemented as a directory with a writer lock.
@@ -27,6 +27,7 @@ import sys
 import shutil
 import fcntl
 import tempfile
+import threading
 from enum import Enum


@@ -58,40 +59,48 @@ keys = {
  "ControlsParams": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
  "DongleId": [TxType.PERSISTENT],
-  "GithubSshKeys": [TxType.PERSISTENT],
  "GitBranch": [TxType.PERSISTENT],
  "GitCommit": [TxType.PERSISTENT],
  "GitRemote": [TxType.PERSISTENT],
+  "GithubSshKeys": [TxType.PERSISTENT],
  "HasAcceptedTerms": [TxType.PERSISTENT],
-  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
-  "IsFcwEnabled": [TxType.PERSISTENT],
+  "HasCompletedSetup": [TxType.PERSISTENT],
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
+  "IsRHD": [TxType.PERSISTENT],
  "IsUpdateAvailable": [TxType.PERSISTENT],
  "IsUploadRawEnabled": [TxType.PERSISTENT],
  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
+  "LastUpdateTime": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
  "LimitSetSpeedNeural": [TxType.PERSISTENT],
  "LiveParameters": [TxType.PERSISTENT],
  "LongitudinalControl": [TxType.PERSISTENT],
+  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
+  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "Passive": [TxType.PERSISTENT],
  "RecordFront": [TxType.PERSISTENT],
+  "ReleaseNotes": [TxType.PERSISTENT],
  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
  "SpeedLimitOffset": [TxType.PERSISTENT],
  "SubscriberInfo": [TxType.PERSISTENT],
  "TermsVersion": [TxType.PERSISTENT],
  "TrainingVersion": [TxType.PERSISTENT],
+  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
  "Version": [TxType.PERSISTENT],
+  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
  #dragonpilot config
  "DragonEnableDashcam": [TxType.PERSISTENT],
-  "DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
  "DragonAutoShutdownAt": [TxType.PERSISTENT],
-  "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
-  "DragonDisableLogger": [TxType.PERSISTENT], # deprecated
  "DragonEnableLogger": [TxType.PERSISTENT],
-  "DragonDisableUploader": [TxType.PERSISTENT], # deprecated
  "DragonEnableUploader": [TxType.PERSISTENT],
  "DragonNoctuaMode": [TxType.PERSISTENT],
  "DragonCacheCar": [TxType.PERSISTENT],
@@ -99,14 +108,47 @@ keys = {
  "DragonCachedFP": [TxType.PERSISTENT],
  "DragonCachedVIN": [TxType.PERSISTENT],
  "DragonAllowGas": [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],
+  "DragonEnableAegis": [TxType.PERSISTENT],
+  "DragonBootAegis": [TxType.PERSISTENT],
+  "DragonRunAegis": [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],
+  "DragonCarModel": [TxType.PERSISTENT],
+  "DragonCarVIN": [TxType.PERSISTENT],
+  "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
+  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
+  "DragonToyotaSnGMod": [TxType.PERSISTENT],
+  "DragonIsEON": [TxType.PERSISTENT],
+  "DragonHWChecked": [TxType.PERSISTENT],
 }


@@ -118,7 +160,7 @@ def fsync_dir(path):
    os.close(fd)


-class FileLock(object):
+class FileLock():
  def __init__(self, path, create):
    self._path = path
    self._create = create
@@ -134,7 +176,7 @@ class FileLock(object):
      self._fd = None


-class DBAccessor(object):
+class DBAccessor():
  def __init__(self, path):
    self._path = path
    self._vals = None
@@ -304,6 +346,9 @@ def read_db(params_path, key):
    return None

 def write_db(params_path, key, value):
+  if isinstance(value, str):
+    value = value.encode('utf8')
+
  prev_umask = os.umask(0)
  lock = FileLock(params_path+"/.lock", True)
  lock.acquire()
@@ -322,7 +367,7 @@ def write_db(params_path, key, value):
    os.umask(prev_umask)
    lock.release()

-class Params(object):
+class Params():
  def __init__(self, db='/data/params'):
    self.db = db

@@ -353,7 +398,7 @@ class Params(object):
    with self.transaction(write=True) as txn:
      txn.delete(key)

-  def get(self, key, block=False):
+  def get(self, key, block=False, encoding=None):
    if key not in keys:
      raise UnknownKeyName(key)

@@ -363,14 +408,37 @@ class Params(object):
        break
      # is polling really the best we can do?
      time.sleep(0.05)
+
+    if ret is not None and encoding is not None:
+      ret = ret.decode(encoding)
+
    return ret

  def put(self, key, dat):
+    """
+    Warning: This function blocks until the param is written to disk!
+    In very rare cases this can take over a second, and your code will hang.
+
+    Use the put_nonblocking helper function in time sensitive code, but
+    in general try to avoid writing params as much as possible.
+    """
+
    if key not in keys:
      raise UnknownKeyName(key)

    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:
@@ -1,6 +1,6 @@
 import time

-class Profiler(object):
+class Profiler():
  def __init__(self, enabled=False):
    self.enabled = enabled
    self.cp = {}
@@ -19,6 +19,7 @@ assert sec_since_boot
 DT_CTRL = 0.01  # controlsd
 DT_PLAN = 0.05  # mpc
 DT_MDL = 0.05  # model
+DT_RDR = 0.05  # radar
 DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager

@@ -43,7 +44,7 @@ def set_realtime_priority(level):
  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])


-class Ratekeeper(object):
+class Ratekeeper():
  def __init__(self, rate, print_delay_threshold=0.):
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
@@ -0,0 +1,28 @@
+import os
+import subprocess
+from common.basedir import BASEDIR
+
+class Spinner():
+  def __enter__(self):
+    self.spinner_proc = subprocess.Popen(["./spinner"],
+                                         stdin=subprocess.PIPE,
+                                         cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                         close_fds=True)
+    return self
+
+  def update(self, spinner_text):
+    self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+    self.spinner_proc.stdin.flush()
+
+  def __exit__(self, type, value, traceback):
+    self.spinner_proc.stdin.close()
+    self.spinner_proc.terminate()
+
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+
@@ -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():
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sympy as sp
 import numpy as np

@@ -125,7 +125,7 @@ def img_from_device(pt_device):

 #TODO please use generic img transform below
 def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
-  import cv2
+  import cv2  # pylint: disable=no-name-in-module, import-error

  size = img.shape[:2]
  rot = orient.rot_from_euler(eulers)
@@ -138,8 +138,8 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
  if crop:
-    W_border = (size[1] - crop[0])/2
-    H_border = (size[0] - crop[1])/2
+    W_border = (size[1] - crop[0])//2
+    H_border = (size[0] - crop[1])//2
    outside_crop = (((warped_quadrangle[:,0] < W_border) |
                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
                    ((warped_quadrangle[:,1] < H_border) |
@@ -154,16 +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):
-  import cv2
+                 top_hacks=False,
+                 yuv=False,
+                 alpha=1.0,
+                 beta=0,
+                 blur=0):
+  import cv2  # pylint: disable=no-name-in-module, import-error
+  cv2.setNumThreads(1)
+
+  if yuv:
+    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)

  size = base_img.shape[:2]
  if not output_size:
@@ -180,8 +204,6 @@ 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)))))
@@ -202,12 +224,24 @@ 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
  # center in array coordinates so row, column
-  import cv2
+  import cv2   # pylint: disable=no-name-in-module, import-error
  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
  if not center:
    center = (rgb.shape[0]/2, rgb.shape[1]/2)
@@ -65,7 +65,7 @@ def ecef2geodetic(ecef, radians=False):
  geodetic = np.column_stack((lat, lon, h))
  return geodetic.reshape(input_shape)

-class LocalCoord(object):
+class LocalCoord():
  """
   Allows conversions to local frames. In this case NED.
   That is: North East Down from the start position in
@@ -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

@@ -29,7 +29,7 @@ def euler2quat(eulers):
       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)

  quats = array([q0, q1, q2, q3]).T
-  for i in xrange(len(quats)):
+  for i in range(len(quats)):
    if quats[i,0] < 0:
      quats[i] = -quats[i]
  return quats.reshape(output_shape)
@@ -99,7 +99,7 @@ def rot2quat(rots):
  K3[:, 3, 2] = K3[:, 2, 3]
  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
  q = np.empty((len(rots), 4))
-  for i in xrange(len(rots)):
+  for i in range(len(rots)):
    _, eigvecs = linalg.eigh(K3[i].T)
    eigvecs = eigvecs[:,3:]
    q[i, 0] = eigvecs[-1]
@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
@@ -0,0 +1,92 @@
+This Font Software is licensed under the SIL Open Font License,
+Version 1.1.
+
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font
+creation efforts of academic and linguistic communities, and to
+provide a free and open framework in which fonts may be shared and
+improved in partnership with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply to
+any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software
+components as distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to,
+deleting, or substituting -- in part or in whole -- any of the
+components of the Original Version, by changing formats or by porting
+the Font Software to a new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed,
+modify, redistribute, and sell modified and unmodified copies of the
+Font Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components, in
+Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the
+corresponding Copyright Holder. This restriction only applies to the
+primary font name as presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created using
+the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
@@ -334,12 +334,6 @@
    <family>
        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
    </family>
-    <family lang="zh-Hans">
-        <font weight="400" style="normal">NotoSansSC-Regular.otf</font>
-    </family>
-    <family lang="zh-Hant">
-        <font weight="400" style="normal">NotoSansTC-Regular.otf</font>
-    </family>
    <family lang="ja">
        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
    </family>
@@ -352,8 +346,15 @@
    <family>
        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
    </family>
-    <family>
-        <font weight="400" style="normal">Miui-Regular.ttf</font>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
    </family>
    <family lang="ja">
        <font weight="400" style="normal">MTLmr3m.ttf</font>
@@ -1,50 +1,71 @@
 #!/usr/bin/bash

-# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
-lang=en
+###############################################################################
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+# Noto is a trademark of Google Inc. Noto fonts are open source.
+# All Noto fonts are published under the SIL Open Font License,
+# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
+#
+###############################################################################

-update_font_reg=0
-update_font_bold=0
+
+# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+lang=zh-TW
+
+update_font=0
 remove_old_font=0

 # check regular font
-if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
-    update_font_reg=1
+if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
+    update_font=1
 fi

-# check bold font
-if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
-    update_font_bold=1
-fi
-
-# check droidsans font
-if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
+# check miui font
+if ls /system/fonts/Miui*.ttf 1> /dev/null 2>&1; then
    remove_old_font=1
 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
+if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 3 secs in case, make sure the /system is re-mountable
+    sleep 3
    mount -o remount,rw /system
-    if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
-        # download regular font
-        if [ $update_font_reg -eq "1" ]; then
-            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
-        fi
-        # download bold font
-        if [ $update_font_bold -eq "1" ]; then
-            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
-        fi
-        # dont new font mapping
-        yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+    if [ $update_font -eq "1" ]; then
+        # install font
+        cp -rf /data/openpilot/dragonpilot/chinese-fonts/NotoSansCJKtc-* /system/fonts/
+        # install font mapping
+        cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+        # change permissions
        chmod 644 /system/etc/fonts.xml
-        chmod 644 /system/fonts/Miui-*
+        chmod 644 /system/fonts/NotoSansCJKtc-*
    fi
-    # remove driodsans font
+    # remove miui font
    if [ $remove_old_font -eq "1" ]; then
-        rm -fr /system/fonts/DroidSansFallback*.ttf
+        rm -fr /system/fonts/Miui*.ttf
    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
@@ -31,7 +31,9 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
 .PHONY: all
 all: updater

-OBJS = courbd.ttf.o \
+OBJS = NotoSansCJKtc-Regular.otf.o \
+			 NotoSansCJKtc-Medium.otf.o \
+			 NotoSansCJKtc-Bold.otf.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
+NotoSansCJKtc-Regular.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+NotoSansCJKtc-Bold.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Bold.otf
+	@echo "[ bin2o ] $@"
+	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
+
+NotoSansCJKtc-Medium.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Medium.otf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'

@@ -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",
-  "recovery_len": 15136044,
-  "recovery_hash": "af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a"
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-7a0117425bc4a6673958d265312994e124654a566228f3cec2f0f9bc8120a9ab.zip",
+  "ota_hash": "7a0117425bc4a6673958d265312994e124654a566228f3cec2f0f9bc8120a9ab",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-3dc234d868c29a3739f6ca3bd47b1c2d3c570d9f478b6849a4fada129ee4af76.img",
+  "recovery_len": 15848748,
+  "recovery_hash": "3dc234d868c29a3739f6ca3bd47b1c2d3c570d9f478b6849a4fada129ee4af76"
 }
@@ -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_NotoSansCJKtc_Regular_otf_start");
+extern const uint8_t bin_opensans_regular_end[] asm("_binary_NotoSansCJKtc_Regular_otf_end");
+extern const uint8_t bin_opensans_semibold[] asm("_binary_NotoSansCJKtc_Medium_otf_start");
+extern const uint8_t bin_opensans_semibold_end[] asm("_binary_NotoSansCJKtc_Medium_otf_end");
+extern const uint8_t bin_opensans_bold[] asm("_binary_NotoSansCJKtc_Bold_otf_start");
+extern const uint8_t bin_opensans_bold_end[] asm("_binary_NotoSansCJKtc_Bold_otf_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;

@@ -283,21 +311,31 @@ 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("下載 " + name + " 中...");
    bool r = download_file(url, out_fn);
    if (!r) {
-      set_error("failed to download " + name);
+      set_error("無法下載 " + name);
      return "";
    }

-    set_progress("verifying " + name + "...");
+    set_progress("驗證 " + name + " 中...");
    std::string fn_hash = sha256_file(out_fn);
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
+    printf("得到 %s hash: %s\n", name.c_str(), hash.c_str());
    if (fn_hash != hash) {
-      set_error(name + " was corrupt");
+      set_error(name + " 已損壞");
      unlink(out_fn.c_str());
      return "";
    }
@@ -310,12 +348,18 @@ 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()) {
-      set_error("2GB of free space required to update");
+      set_error("您需要至少 2GB 的空間進行升級");
      return;
    }

@@ -323,7 +367,7 @@ struct Updater {

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

-    set_progress("finding latest version...");
+    set_progress("尋找最新的版本...");
    std::string manifest_s;
    if (EON) {
      manifest_s = download_string(curl, manifest_url);
@@ -332,12 +376,12 @@ struct Updater {
      exit(0);
    }

-    printf("manifest: %s\n", manifest_s.c_str());
+    printf("宣示說明: %s\n", manifest_s.c_str());

    std::string err;
    auto manifest = json11::Json::parse(manifest_s, err);
    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
+      set_error("無法載入新的宣示說明");
      return;
    }

@@ -352,7 +396,7 @@ struct Updater {
    // std::string installer_hash = manifest["installer_hash"].string_value();

    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
+      set_error("錯誤的宣示說明");
      return;
    }

@@ -364,12 +408,12 @@ struct Updater {

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

      if (existing_recovery_hash != recovery_hash) {
        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
@@ -387,24 +431,30 @@ 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("刷新 recovery...");

      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
      if (!flash_file) {
-        set_error("failed to flash recovery");
+        set_error("刷新 recovery 失敗");
        return;
      }

      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
      if (!recovery_dev) {
        fclose(flash_file);
-        set_error("failed to flash recovery");
+        set_error("刷新 recovery 失敗");
        return;
      }

@@ -419,7 +469,7 @@ struct Updater {
        if (bytes_read != bytes_written) {
          fclose(recovery_dev);
          fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
+          set_error("刷新 recovery 失敗: 無法寫入");
          return;
        }
      }
@@ -427,12 +477,12 @@ struct Updater {
      fclose(recovery_dev);
      fclose(flash_file);

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

      if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
+        set_error("刷新 recovery 失敗");
        return;
      }

@@ -441,13 +491,13 @@ struct Updater {
    // write arguments to recovery
    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
    if (!cmd_file) {
-      set_error("failed to reboot into recovery");
+      set_error("無法重啟至 recovery");
      return;
    }
    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
    fclose(cmd_file);

-    set_progress("rebooting");
+    set_progress("重新啟動");

    // 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 = "電量過低";
+    low_battery_text = "請將您的 EON 充電。當電量達到 35% 時系統將會繼續更新。";
+    low_battery_context = "目前的電量為: " + 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, "請確保您的 EON 已接上充電器。", 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("NEOS 需要更新。",
+                      "您的設備將在點擊繼續後開始更新。\n更新檔約為 1GB 我們建議您先連接至無線網路。\n設備上現有的檔案不會丟失。",
+                      "繼續",
+                      "連線至無線網路");
+      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("發生錯誤", (error_text).c_str(), NULL, "重新啟動");
      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...
@@ -24,6 +24,8 @@ function launch {
 #
 #    exec "${BASH_SOURCE[0]}"
 #  fi
+  chmod 700 reset_update.sh
+  chmod 700 update_panda_firmware.sh

  # no cpu rationing for now
  echo 0-3 > /dev/cpuset/background/cpus
@@ -32,6 +34,24 @@ function launch {
  echo 0-3 > /dev/cpuset/foreground/cpus
  echo 0-3 > /dev/cpuset/android/cpus

+  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+  # Remove old NEOS update file
+  if [ -d /data/neoupdate ]; then
+    rm -rf /data/neoupdate
+  fi
+
+  # Check for NEOS update
+  if [ $(< /VERSION) != "12" ]; then
+    if [ -f "$DIR/scripts/continue.sh" ]; then
+      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
+    fi
+
+    git clean -xdf
+    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+  fi
+
+
  # handle pythonpath
  ln -s /data/openpilot /data/pythonpath
  export PYTHONPATH="$PWD"
@@ -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" ;
@@ -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" ;
@@ -189,7 +189,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
@@ -241,4 +241,3 @@ VAL_ 356 LKATorqueDeliveredStatus 7 "Override Fault" 6 "LKAS Fault but Responsiv
 VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
 VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
 VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
-
@@ -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
@@ -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";
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import os
 import re

@@ -40,10 +40,10 @@ for dir_name, _, filenames in os.walk(cur_path):
    if dir_name == cur_path:
        continue

-    print dir_name
+    print(dir_name)
    for filename in filenames:
        if filename.startswith('_'):
            continue

-        print filename
+        print(filename)
        create_dbc(dir_name, filename)
@@ -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- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
 SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -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" ;
@@ -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" ;
@@ -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" ;
@@ -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";
@@ -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" ;
@@ -33,11 +33,11 @@ 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
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -57,8 +57,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" 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
@@ -128,6 +150,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -152,7 +175,41 @@ 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" 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 +279,9 @@ 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 +305,7 @@ 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";
@@ -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- (1,0) [-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";
@@ -6,15 +6,19 @@ 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- (0.77,0) [-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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -25,11 +29,14 @@ 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";
@@ -20,7 +20,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.05527,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -20,7 +20,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -8,7 +8,7 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
 SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX

@@ -26,7 +26,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -20,6 +20,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX 

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -195,7 +195,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 BO_ 1034 ASCM_40A: 7 K124_ASCM

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
@@ -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- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
 SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -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"
@@ -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- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
 SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -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"
@@ -177,14 +177,14 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
 SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

 BO_ 660 SCM_COMMANDS: 8 SCM
 SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

 BO_ 661 XXX_10: 4 XXX
 SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
@@ -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- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
 SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -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"
@@ -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" ;
@@ -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- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
 SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -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"
@@ -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- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
 SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -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"
@@ -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" ;
@@ -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" ;
@@ -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";
@@ -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- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
 BO_ 495 ACC_CONTROL_ON: 8 XXX
 SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
@@ -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"
@@ -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" ;
@@ -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" ;
@@ -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" ;
@@ -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" ;
@@ -893,11 +893,11 @@ BO_ 67 DATC13: 8 DATC

 BO_ 66 DATC12: 8 DATC
 SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "¢µ"  CLU,IBOX
+ SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] ""  CLU,IBOX
 SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "¢µ"  CLU,IBOX
+ SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] ""  CLU,IBOX
 SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU
- SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "¢µ"  CLU
+ SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] ""  CLU
 SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] ""  CLU

 BO_ 1345 CGW1: 8 BCM
@@ -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
+
@@ -0,0 +1,396 @@
+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+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" 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_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ 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_ VSC_DISABLED : 12|2@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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" 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- (1,0) [-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";
@@ -67,11 +67,11 @@ 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
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" 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
@@ -162,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -186,7 +209,41 @@ 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" 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 +313,9 @@ 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 +339,7 @@ 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";
@@ -67,11 +67,11 @@ 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
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" 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
@@ -162,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -186,7 +209,41 @@ 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" 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 +313,9 @@ 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 +339,7 @@ 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 +365,19 @@ 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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -323,11 +388,14 @@ 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";
@@ -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- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -67,11 +67,11 @@ 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
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" 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
@@ -162,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -186,7 +209,41 @@ 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" 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 +313,9 @@ 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 +339,7 @@ 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";
@@ -67,11 +67,11 @@ 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
- SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" 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
@@ -162,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -186,7 +209,41 @@ 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" 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 +313,9 @@ 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 +339,7 @@ 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";
@@ -0,0 +1,153 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 928 EPB_STATUS: 8 XXX
+ SG_ EPB_BRAKE : 16|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 1104 SEATBELT_STATUS: 8 XXX
+ SG_ DRIVER_SEAT_BELT_ONOFF : 21|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 1056 BODY_ECU_STATUS: 8 XXX
+ SG_ DOOR_RL_STATUS : 18|1@0+ (1,0) [0|255] "" XXX
+ SG_ DOOR_FL_STATUS : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_FR_STATUS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_RR_STATUS : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_BACK_DOOR_STATUS : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_SIGNAL_STATUS : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_SIGNAL_STATUS : 9|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 832 GEAR_RPM_SPEED_STATUS: 8 XXX
+ SG_ TRANS_MODE : 7|5@1+ (1,0) [0|0] "" XXX
+ SG_ TRANS_GEAR_POS : 2|3@0+ (1,0) [0|1] "" XXX
+ SG_ ENGINE_RPM1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ ENGINE_TEMP : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 821 THROTTLE_STATUS: 8 XXX
+ SG_ CRUSE_ONOFF : 2|1@0+ (1,0) [0|1] "on/off" XXX
+ SG_ CRUSE_ENABLED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ THROTTLE_PEDAL_POS : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ THROTTLE_POS : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ RPM : 48|8@1- (1,0) [0|65535] "" XXX
+
+BO_ 922 STEERING_ANGLE_STATUS: 8 XXX
+ SG_ STEER_ANGLE_9000 : 7|16@0- (1,0) [0|65535] "" XXX
+
+BO_ 906 WHEEL_SPEEDS: 8 XXX
+ SG_ SPEED_FR : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ ABS_UNDEF1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ SPEED_FL : 0|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 848 ABS_WHEELS_STATUS: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1402 DASH_STATUS: 8 XXX
+ SG_ CAR_SPEED : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ DASH_INFO2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ DASH_INFO0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ DASH_INFO_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ DASH_INFO_3 : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1306 _SPEEDX: 8 XXX
+ SG_ DASH_CAR_SPEED : 7|9@0+ (1,0) [0|255] "" XXX
+
+BO_ 1296 undefined: 8 XXX
+
+BO_ 790 ENGINE_DATA: 8 XXX
+ SG_ _X2 : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1313 undefined: 8 XXX
+
+BO_ 1312 __trigger_every_range: 8 XXX
+ SG_ __SIGNAL_every_interval : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 896 undefined: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 809 undefined: 8 XXX
+
+BO_ 864 BREAK_TCS_STATUS: 8 XXX
+ SG_ SPEED3 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ TCS_ON_FF : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ XXXX1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRSSED : 42|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 842 undefined: 8 XXX
+
+BO_ 880 WHEEL_RPM_STATUS: 8 XXX
+ SG_ WHEEL_RL_SPEED : 23|16@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_FR_SPEED : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_FL_SPEED : 55|16@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_RR_SPEED : 7|16@0- (1,0) [0|255] "" XXX
+
+BO_ 1040 CONSOLE_STATUS: 8 XXX
+ SG_ LEFT_SIGNAL_SWITCH : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_SIGNAL_SWITCH : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEAD_LIGHT_HANDLE_SWITCH : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ HID_LIGHT_SWITCH : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ YELLOW_WARN_TEMP_TRIGGER : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ HID_LIGHT_HANDLE_SWITCH : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ MIX_MODE : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ slider_rain_bar : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ temp_slider_rain_bar : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ temp_water_push : 11|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1120 HAVC_STATUS: 8 XXX
+ SG_ HAVC_TEMP : 32|8@1+ (1,0) [0|255] "" XXX
+
+
+CM_ SG_ 1104 DRIVER_SEAT_BELT_ONOFF "0 - on , 1 = off";
+CM_ SG_ 1056 DOOR_RL_STATUS "04 - RL - open";
+CM_ SG_ 1056 DOOR_FL_STATUS "28 - FL open , 38 - FR";
+CM_ SG_ 1056 RIGHT_SIGNAL_STATUS "R,L shows at same time means hazard";
+CM_ SG_ 832 TRANS_MODE "AT - 85 / MT - 8D";
+CM_ SG_ 832 TRANS_GEAR_POS "R-7 , 0 - N";
+CM_ SG_ 821 CRUSE_ONOFF "Cruse Switch";
+CM_ SG_ 821 CRUSE_ENABLED "Cruse enabled";
+CM_ SG_ 821 THROTTLE_PEDAL_POS "Real Pedal Pos";
+CM_ SG_ 821 THROTTLE_POS "Throttle Pos for Cruse Mode";
+CM_ SG_ 906 ABS_UNDEF1 "ABS force";
+CM_ SG_ 906 SPEED_FL "used for car speed in dash board";
+CM_ SG_ 864 TCS_ON_FF "ON = 1, OFF =0";
@@ -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";
@@ -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";
@@ -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/Show More
+++ b/Show More