Merge branch 'devel-i18n' into devel-zhs

dp 0.7.4.2

.gitignore

@@ -57,3 +57,9 @@ panda_jungle
 htmlcov
 pandaextra
 
+apk/cn.dragonpilot.gpsservice.apk
+apk/com.autonavi.amapauto.apk
+apk/com.mixplorer.apk
+apk/com.tomtom.speedcams.android.map.apk
+apk/com.waze.apk
+apk/tw.com.ainvest.outpack.apk

.pylintrc

@@ -1,585 +0,0 @@
-[MASTER]
-
-# A comma-separated list of package or module names from where C extensions may
-# be loaded. Extensions are loading into the active Python interpreter and may
-# run arbitrary code
-extension-pkg-whitelist=scipy
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=print-statement,
-        parameter-unpacking,
-        unpacking-in-except,
-        old-raise-syntax,
-        backtick,
-        long-suffix,
-        old-ne-operator,
-        old-octal-literal,
-        import-star-module-level,
-        non-ascii-bytes-literal,
-        raw-checker-failed,
-        bad-inline-option,
-        locally-disabled,
-        locally-enabled,
-        file-ignored,
-        suppressed-message,
-        useless-suppression,
-        deprecated-pragma,
-        apply-builtin,
-        basestring-builtin,
-        buffer-builtin,
-        cmp-builtin,
-        coerce-builtin,
-        execfile-builtin,
-        file-builtin,
-        long-builtin,
-        raw_input-builtin,
-        reduce-builtin,
-        standarderror-builtin,
-        unicode-builtin,
-        xrange-builtin,
-        coerce-method,
-        delslice-method,
-        getslice-method,
-        setslice-method,
-        no-absolute-import,
-        old-division,
-        dict-iter-method,
-        dict-view-method,
-        next-method-called,
-        metaclass-assignment,
-        indexing-exception,
-        raising-string,
-        reload-builtin,
-        oct-method,
-        hex-method,
-        nonzero-method,
-        cmp-method,
-        input-builtin,
-        round-builtin,
-        intern-builtin,
-        unichr-builtin,
-        map-builtin-not-iterating,
-        zip-builtin-not-iterating,
-        range-builtin-not-iterating,
-        filter-builtin-not-iterating,
-        using-cmp-argument,
-        eq-without-hash,
-        div-method,
-        idiv-method,
-        rdiv-method,
-        exception-message-attribute,
-        invalid-str-codec,
-        sys-max-int,
-        bad-python3-import,
-        deprecated-string-function,
-        deprecated-str-translate-call,
-        deprecated-itertools-function,
-        deprecated-types-field,
-        next-method-defined,
-        dict-items-not-iterating,
-        dict-keys-not-iterating,
-        dict-values-not-iterating,
-        bad-indentation,
-        line-too-long,
-        missing-docstring,
-        multiple-statements,
-        bad-continuation,
-        invalid-name,
-        too-many-arguments,
-        too-many-locals,
-        superfluous-parens,
-        bad-whitespace,
-        too-many-instance-attributes,
-        wrong-import-position,
-        ungrouped-imports,
-        wrong-import-order,
-        protected-access,
-        trailing-whitespace,
-        too-many-branches,
-        too-few-public-methods,
-        too-many-statements,
-        trailing-newlines,
-        attribute-defined-outside-init,
-        too-many-return-statements,
-        too-many-public-methods,
-        unused-argument,
-        old-style-class,
-        no-init,
-        len-as-condition,
-        unneeded-not,
-        no-self-use,
-        multiple-imports,
-        no-else-return,
-        logging-not-lazy,
-        fixme,
-        redefined-outer-name,
-        unused-variable,
-        unsubscriptable-object,
-        expression-not-assigned,
-        too-many-boolean-expressions,
-        consider-using-ternary,
-        invalid-unary-operand-type,
-        relative-import,
-        deprecated-lambda
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
-      XXX,
-      TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
-
-# Number of spaces of indent required inside a hanging  or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
-# tab).
-indent-string='  '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=trailing-comma,
-               dict-separator
-
-# Allow the body of a class to be on the same line as the declaration if body
-# contains single statement.
-single-line-class-stmt=no
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
-          bar,
-          baz,
-          toto,
-          tutu,
-          tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
-           j,
-           k,
-           ex,
-           Run,
-           _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
-                      __new__,
-                      setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
-                  _fields,
-                  _replace,
-                  _source,
-                  _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
-                   TERMIOS,
-                   Bastion,
-                   rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception

.travis.yml

@@ -1,7 +0,0 @@
-sudo: required
-
-services:
-  - docker
-
-script:
-  - ./run_docker_tests.sh

CONTRIBUTING.md

@@ -14,15 +14,15 @@ Most open source development activity is coordinated through our [Discord](https
 
 ### Local Testing
 
-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
+You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
 
 ### Automated Testing
 
-All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
+All PRs are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
 
 ### Code Style and Linting
 
-Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
+Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.
 
 ## Car Ports (openpilot)
 
@@ -32,9 +32,19 @@ If you port openpilot to a substantially new car brand, see this more generic [B
 
 ## Pull Requests
 
-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
+```
+git clone https://github.com/commaai/openpilot.git --recursive
+```
+Or alternatively, when on the master branch:
 ```
 git submodule init
 git submodule update
 ```
-in order to pull down the submodules, such as `panda` and `opendbc`.
+The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
+Modules that are in seperate repositories include:
+* apks
+* cereal
+* laika
+* opendbc
+* panda

README.md

@@ -62,88 +62,92 @@ At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/product
 Supported Cars
 ------
 
-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
-| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
-| Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
+| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>6</sup>  | 25mph             |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph              |
+| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph              |
+| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph             |
+| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph<sup>4</sup>  |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | Insight 2019                  | Honda Sensing     | Stock            | 0mph               | 3mph              |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 0mph              |
+| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph             |
+| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph             |
+| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph              |
+| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph              |
+| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph             |
+| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph              |
+| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph              |
+| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph              |
+| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
+| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
+| Lexus     | NX Hybrid 2018                | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2016-17                    | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph              |
+| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph              |
+| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Avalon 2017-18                | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph              |
+| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | Corolla 2017-19               | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2017-19                 | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Rav4 2017-18                  | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Sienna 2018                   | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph              |
 
 <sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
 <sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 
 Community Maintained Cars and Features
 ------
 
 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Buick     | Regal 2018<sup>7</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>7</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>7</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>7</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| GMC       | Acadia Denali 2018<sup>7</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Holden    | Astra 2017<sup>7</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 
-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
-<sup>5</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
-<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>5</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
+<sup>6</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
+<sup>7</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
 
 Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
 

RELEASES.md

@@ -1,3 +1,21 @@
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
+Version 0.7.3 (2020-02-21)
+========================
+ * Support for 2020 Highlander thanks to che220!
+ * Support for 2018 Lexus NX 300h thanks to kengggg!
+ * Speed up ECU firmware query
+ * Fix bug where manager would sometimes hang after shutting down the car
+
 Version 0.7.2 (2020-02-07)
 ========================
  * ECU firmware version based fingerprinting for Honda & Toyota

SConstruct

@@ -228,5 +228,6 @@ if arch == "aarch64":
   SConscript(['selfdrive/clocksd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/kalman/SConscript'])
 
 # TODO: finish cereal, dbcbuilder, MPC

cereal/.github/workflows/tests.yml

@@ -0,0 +1,23 @@
+name: Tests
+
+on: [push, pull_request]
+
+jobs:
+  test:
+
+    runs-on: ubuntu-16.04
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build docker image
+      run: docker build -t cereal .
+    - name: Unit Tests
+      run: |
+        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
+    - name: Test ZMQ
+      run: |
+        docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
+    - name: Test MSGQ
+      run: |
+        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
+

cereal/README.md

@@ -35,8 +35,7 @@ while 1:
 
 # in publisher
 pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message()
-dat.init('sensorEvents', 1)
+dat = messaging.new_message('sensorEvents', size=1)
 dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
 pm.send('sensorEvents', dat)
 ```

cereal/azure-pipelines.yml

@@ -1,14 +0,0 @@
-pr: none
-
-pool:
-  vmImage: 'ubuntu-16.04'
-
-steps:
-- script: |
-    set -e
-    docker build -t cereal .
-    docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
-    docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
-    docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
-
-  displayName: 'Run Tests'

cereal/car.capnp

@@ -135,6 +135,7 @@ struct CarState {
   steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -158,6 +159,10 @@ struct CarState {
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
+  
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
   struct WheelSpeeds {
     # optional wheel speeds
@@ -449,6 +454,7 @@ struct CarParams {
     noOutput @19;  # like silent but without silent CAN TXs
     hondaBoschHarness @20;
     volkswagenPq @21;
+    subaruLegacy @22;  # pre-Global platform
   }
 
   enum SteerControlType {
@@ -476,14 +482,26 @@ struct CarParams {
     fwdCamera @3;
     engine @4;
     unknown @5;
+    transmission @8; # Transmission Control Module
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
 
     # Toyota only
     dsu @6;
     apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+    electricBrakeBooster @15;
+    shiftByWire @16;
   }
 
   enum FingerprintSource {
     can @0;
     fw @1;
+    fixed @2;
   }
 }

cereal/log.capnp

@@ -127,6 +127,8 @@ struct FrameData {
   lensTruePos @14 :Float32;
   image @6 :Data;
   gainFrac @15 :Float32;
+  focusVal @16 :List(Int16);
+  focusConf @17 :List(UInt8);
 
   frameType @7 :FrameType;
   timestampSof @8 :UInt64;
@@ -280,6 +282,8 @@ struct ThermalData {
   batteryVoltage @16 :Int32;
   usbOnline @12 :Bool;
   networkType @22 :NetworkType;
+  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
+  networkStrength @24 :NetworkStrength;
 
   fanSpeed @10 :UInt16;
   started @11 :Bool;
@@ -292,7 +296,7 @@ struct ThermalData {
   memUsedPercent @19 :Int8;
   cpuPerc @20 :Int8;
 
-  ipAddr @23 :Text; # dragonpilot
+  ipAddr @25 :Text; # dragonpilot
 
   enum ThermalStatus {
     green @0;   # all processes run
@@ -309,6 +313,14 @@ struct ThermalData {
     cell4G @4;
     cell5G @5;
   }
+
+  enum NetworkStrength {
+    unknown @0;
+    poor @1;
+    moderate @2;
+    good @3;
+    great @4;
+  }
 }
 
 struct HealthData {
@@ -627,9 +639,11 @@ struct ModelData {
     brakeDisengageProb @2 :Float32;
     gasDisengageProb @3 :Float32;
     steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
   }
 
   struct LongitudinalData {
+    distances @2 :List(Float32);
     speeds @0 :List(Float32);
     accelerations @1 :List(Float32);
   }
@@ -793,6 +807,52 @@ struct PathPlan {
   }
 }
 
+struct LiveLocationKalman {
+
+  # More info on reference frames: 
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+
+  positionECEF @0 : Measurement;
+  positionGeodetic @1 : Measurement;
+  velocityECEF @2 : Measurement;
+  velocityNED @3 : Measurement;
+  velocityDevice @4 : Measurement;
+  accelerationDevice @5: Measurement;
+
+
+  # These angles are all eulers and roll, pitch, yaw
+  # orientationECEF transforms to rot matrix: ecef_from_device
+  orientationECEF @6 : Measurement;
+  orientationNED @7 : Measurement;
+  angularVelocityDevice @8 : Measurement;
+  
+  # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
+  orientationNEDCalibrated @9 : Measurement;
+  
+  # Calibrated frame is simply device frame
+  # aligned with the vehicle
+  velocityCalibrated @10 : Measurement;
+  accelerationCalibrated @11 : Measurement;
+  angularVelocityCalibrated @12 : Measurement;
+
+  gpsWeek @13 :Int32;
+  gpsTimeOfWeek @14 :Float64;
+  status @15 :Status;
+  unixTimestampMillis @16 :Int64;
+  
+  enum Status {
+    uninitialized @0;
+    uncalibrated @1;
+    valid @2;
+  }
+
+  struct Measurement {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
+}
+
 struct LiveLocationData {
   status @0 :UInt8;
 
@@ -1880,6 +1940,16 @@ struct KalmanOdometry {
   rotStd @3 :List(Float32); # std rad/s in device frame
 }
 
+struct Sentinel {
+  enum SentinelType {
+    endOfSegment @0;
+    endOfRoute @1;
+    startOfSegment @2;
+    startOfRoute @3;
+  }
+  type @0 :SentinelType;
+}
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -1936,7 +2006,7 @@ struct Event {
     gpsLocationExternal @48 :GpsLocationData;
     location @49 :LiveLocationData;
     uiNavigationEvent @50 :UiNavigationEvent;
-    liveLocationKalman @51 :LiveLocationData;
+    liveLocationKalmanDEPRECATED @51 :LiveLocationData;
     testJoystick @52 :Joystick;
     orbOdometry @53 :OrbOdometry;
     orbFeatures @54 :OrbFeatures;
@@ -1956,5 +2026,7 @@ struct Event {
     carParams @69: Car.CarParams;
     frontFrame @70: FrameData;
     dMonitoringState @71: DMonitoringState;
+    liveLocationKalman @72 :LiveLocationKalman;
+    sentinel @73 :Sentinel;
   }
 }

cereal/messaging/__init__.py

@@ -19,10 +19,15 @@ except ImportError:
 
 context = Context()
 
-def new_message():
+def new_message(service=None, size=None):
   dat = log.Event.new_message()
   dat.logMonoTime = int(sec_since_boot() * 1e9)
   dat.valid = True
+  if service is not None:
+    if size is None:
+      dat.init(service)
+    else:
+      dat.init(service, size)
   return dat
 
 def pub_sock(endpoint):
@@ -148,12 +153,11 @@ class SubMaster():
         self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
       self.freq[s] = service_list[s].frequency
 
-      data = new_message()
       try:
-        data.init(s)
+        data = new_message(s)
       except capnp.lib.capnp.KjException:
         # lists
-        data.init(s, 0)
+        data = new_message(s, 0)
 
       self.data[s] = getattr(data, s)
       self.logMonoTime[s] = 0

cereal/service_list.yaml

@@ -19,7 +19,7 @@ controlsState: [8007, true, 100., 100]
 model: [8009, true, 20., 5]
 features: [8010, true, 0.]
 health: [8011, true, 2., 1]
-radarState: [8012, true, 20.]
+radarState: [8012, true, 20., 5]
 #liveUI: [8014, true, 0.]
 encodeIdx: [8015, true, 20.]
 liveTracks: [8016, true, 20.]
@@ -31,7 +31,7 @@ carState: [8021, true, 100., 10]
 # 8022 is reserved for sshd
 carControl: [8023, true, 100., 10]
 plan: [8024, true, 20.]
-liveLocation: [8025, true, 0.]
+liveLocation: [8025, true, 0., 1]
 gpsLocation: [8026, true, 1., 1]
 ethernetData: [8027, true, 0.]
 navUpdate: [8028, true, 0.]
@@ -57,7 +57,7 @@ orbslamCorrection: [8050, true, 0.]
 liveLocationCorrected: [8051, true, 0.]
 orbObservation: [8052, true, 0.]
 applanixLocation: [8053, true, 0.]
-liveLocationKalman: [8054, true, 0.]
+liveLocationKalman: [8054, true, 0., 1]
 uiNavigationEvent: [8055, true, 0.]
 orbOdometry: [8057, true, 0.]
 orbFeatures: [8058, false, 0.]

common/android.py

@@ -8,6 +8,7 @@ import random
 from cereal import log
 
 NetworkType = log.ThermalData.NetworkType
+NetworkStrength = log.ThermalData.NetworkStrength
 
 ANDROID = os.path.isfile('/EON')
 
@@ -128,3 +129,156 @@ def get_network_type():
       19: NetworkType.cell4G
     }
     return cell_networks.get(cell_check, NetworkType.none)
+
+def get_network_strength(network_type):
+  network_strength = NetworkStrength.unknown
+  # from SignalStrength.java
+  def get_lte_level(rsrp, rssnr):
+    INT_MAX = 2147483647
+    lvl_rsrp = NetworkStrength.unknown
+    lvl_rssnr = NetworkStrength.unknown
+    if rsrp == INT_MAX:
+      lvl_rsrp = NetworkStrength.unknown
+    elif rsrp >= -95:
+      lvl_rsrp = NetworkStrength.great
+    elif rsrp >= -105:
+      lvl_rsrp = NetworkStrength.good
+    elif rsrp >= -115:
+      lvl_rsrp = NetworkStrength.moderate
+    else:
+      lvl_rsrp = NetworkStrength.poor
+    if rssnr == INT_MAX:
+      lvl_rssnr = NetworkStrength.unknown
+    elif rssnr >= 45:
+      lvl_rssnr = NetworkStrength.great
+    elif rssnr >= 10:
+      lvl_rssnr = NetworkStrength.good
+    elif rssnr >= -30:
+      lvl_rssnr = NetworkStrength.moderate
+    else:
+      lvl_rssnr = NetworkStrength.poor
+    return max(lvl_rsrp, lvl_rssnr)
+
+  def get_tdscdma_level(tdscmadbm):
+    lvl = NetworkStrength.unknown
+    if tdscmadbm > -25:
+      lvl = NetworkStrength.unknown
+    elif tdscmadbm >= -49:
+      lvl = NetworkStrength.great
+    elif tdscmadbm >= -73:
+      lvl = NetworkStrength.good
+    elif tdscmadbm >= -97:
+      lvl = NetworkStrength.moderate
+    elif tdscmadbm >= -110:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_gsm_level(asu):
+    lvl = NetworkStrength.unknown
+    if asu <= 2 or asu == 99:
+      lvl = NetworkStrength.unknown
+    elif asu >= 12:
+      lvl = NetworkStrength.great
+    elif asu >= 8:
+      lvl = NetworkStrength.good
+    elif asu >= 5:
+      lvl = NetworkStrength.moderate
+    else:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_evdo_level(evdodbm, evdosnr):
+    lvl_evdodbm = NetworkStrength.unknown
+    lvl_evdosnr = NetworkStrength.unknown
+    if evdodbm >= -65:
+      lvl_evdodbm = NetworkStrength.great
+    elif evdodbm >= -75:
+      lvl_evdodbm = NetworkStrength.good
+    elif evdodbm >= -90:
+      lvl_evdodbm = NetworkStrength.moderate
+    elif evdodbm >= -105:
+      lvl_evdodbm = NetworkStrength.poor
+    if evdosnr >= 7:
+      lvl_evdosnr = NetworkStrength.great
+    elif evdosnr >= 5:
+      lvl_evdosnr = NetworkStrength.good
+    elif evdosnr >= 3:
+      lvl_evdosnr = NetworkStrength.moderate
+    elif evdosnr >= 1:
+      lvl_evdosnr = NetworkStrength.poor
+    return max(lvl_evdodbm, lvl_evdosnr)
+
+  def get_cdma_level(cdmadbm, cdmaecio):
+    lvl_cdmadbm = NetworkStrength.unknown
+    lvl_cdmaecio = NetworkStrength.unknown
+    if cdmadbm >= -75:
+      lvl_cdmadbm = NetworkStrength.great
+    elif cdmadbm >= -85:
+      lvl_cdmadbm = NetworkStrength.good
+    elif cdmadbm >= -95:
+      lvl_cdmadbm = NetworkStrength.moderate
+    elif cdmadbm >= -100:
+      lvl_cdmadbm = NetworkStrength.poor
+    if cdmaecio >= -90:
+      lvl_cdmaecio = NetworkStrength.great
+    elif cdmaecio >= -110:
+      lvl_cdmaecio = NetworkStrength.good
+    elif cdmaecio >= -130:
+      lvl_cdmaecio = NetworkStrength.moderate
+    elif cdmaecio >= -150:
+      lvl_cdmaecio = NetworkStrength.poor
+    return max(lvl_cdmadbm, lvl_cdmaecio)
+
+  if network_type == NetworkType.none:
+    return network_strength
+  if network_type == NetworkType.wifi:
+    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('ascii')
+    network_strength = NetworkStrength.unknown
+    for line in out.split('\n'):
+      signal_str = "SignalStrength: "
+      if signal_str in line:
+        lvl_idx_start = line.find(signal_str) + len(signal_str)
+        lvl_idx_end = line.find(']', lvl_idx_start)
+        lvl = int(line[lvl_idx_start : lvl_idx_end])
+        if lvl >= -50:
+          network_strength = NetworkStrength.great
+        elif lvl >= -60:
+          network_strength = NetworkStrength.good
+        elif lvl >= -70:
+          network_strength = NetworkStrength.moderate
+        else:
+          network_strength = NetworkStrength.poor
+    return network_strength
+  else:
+    # check cell strength
+    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('ascii')
+    for line in out.split('\n'):
+      if "mSignalStrength" in line:
+        arr = line.split(' ')
+        ns = 0
+        if ("gsm" in arr[14]):
+          rsrp = int(arr[9])
+          rssnr = int(arr[11])
+          ns = get_lte_level(rsrp, rssnr)
+          if ns == NetworkStrength.unknown:
+            tdscmadbm = int(arr[13])
+            ns = get_tdscdma_level(tdscmadbm)
+            if ns == NetworkStrength.unknown:
+              asu = int(arr[1])
+              ns = get_gsm_level(asu)
+        else:
+          cdmadbm = int(arr[3])
+          cdmaecio = int(arr[4])
+          evdodbm = int(arr[5])
+          evdosnr = int(arr[7])
+          lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
+          lvl_edmo = get_evdo_level(evdodbm, evdosnr)
+          if lvl_edmo == NetworkStrength.unknown:
+            ns = lvl_cdma
+          elif lvl_cdma == NetworkStrength.unknown:
+            ns = lvl_edmo
+          else:
+            ns = min(lvl_cdma, lvl_edmo)
+        network_strength = max(network_strength, ns)
+
+    return network_strength

common/apk.py

@@ -6,7 +6,7 @@ import shutil
 from common.basedir import BASEDIR
 from selfdrive.swaglog import cloudlog
 
-android_packages = ("tw.com.ainvest.outpack", "cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "ai.comma.plus.offroad", "ai.comma.plus.frame")
+android_packages = ("ai.comma.plus.offroad",)
 
 def get_installed_apks():
   dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
@@ -26,17 +26,16 @@ def install_apk(path):
   os.remove(install_path)
   return ret == 0
 
-def start_frame():
+def start_offroad():
   set_package_permissions()
-  system("am start -n ai.comma.plus.frame/.MainActivity")
+  system("am start -n ai.comma.plus.offroad/.MainActivity")
 
 def set_package_permissions():
   pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
   pm_grant("ai.comma.plus.offroad", "android.permission.READ_PHONE_STATE")
+  pm_grant("ai.comma.plus.offroad", "android.permission.READ_EXTERNAL_STORAGE")
   appops_set("ai.comma.plus.offroad", "SU", "allow")
   appops_set("ai.comma.plus.offroad", "WIFI_SCAN", "allow")
-  appops_set("ai.comma.plus.offroad", "READ_EXTERNAL_STORAGE", "allow")
-  appops_set("ai.comma.plus.offroad", "WRITE_EXTERNAL_STORAGE", "allow")
 
 def appops_set(package, op, mode):
   system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
@@ -96,4 +95,3 @@ def pm_apply_packages(cmd):
 
 if __name__ == "__main__":
   update_apks()
-

common/manager_helpers.py

@@ -0,0 +1,50 @@
+def cputime_total(ct):
+  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
+
+
+def print_cpu_usage(first_proc, last_proc):
+  r = 0
+  procs = [
+      ("selfdrive.controls.controlsd", 59.46),
+      ("./_modeld", 48.94),
+      ("./loggerd", 28.49),
+      ("selfdrive.controls.plannerd", 19.77),
+      ("selfdrive.controls.radard", 9.54),
+      ("./_ui", 9.54),
+      ("./camerad", 7.07),
+      ("selfdrive.locationd.locationd", 7.13),
+      ("./_sensord", 6.17),
+      ("selfdrive.controls.dmonitoringd", 5.48),
+      ("./boardd", 3.63),
+      ("./_dmonitoringmodeld", 2.67),
+      ("selfdrive.logmessaged", 2.71),
+      ("selfdrive.thermald", 2.41),
+      ("./paramsd", 2.18),
+      ("selfdrive.locationd.calibrationd", 1.76),
+      ("./proclogd", 1.54),
+      ("./_gpsd", 0.09),
+      ("./clocksd", 0.02),
+      ("./ubloxd", 0.02),
+      ("selfdrive.tombstoned", 0),
+      ("./logcatd", 0),
+      ("selfdrive.updated", 0),
+  ]
+
+  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
+  print("------------------------------------------------")
+  for proc_name, normal_cpu_usage in procs:
+    try:
+      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
+      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
+      cpu_time = cputime_total(last) - cputime_total(first)
+      cpu_usage = cpu_time / dt * 100.
+      if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
+        print(f"Warning {proc_name} using more CPU than normal")
+        r = 1
+
+      print(f"{proc_name.ljust(35)}  {cpu_usage:.2f}%")
+    except IndexError:
+      print(f"{proc_name.ljust(35)}  NO METRICS FOUND")
+  print("------------------------------------------------")
+
+  return r

common/params.py

@@ -22,6 +22,8 @@ file in place without messing with <params_dir>/d.
 """
 import time
 import os
+import string
+import binascii
 import errno
 import sys
 import shutil
@@ -59,6 +61,7 @@ keys = {
   "CommunityFeaturesToggle": [TxType.PERSISTENT],
   "CompletedTrainingVersion": [TxType.PERSISTENT],
   "ControlsParams": [TxType.PERSISTENT],
+  "DisablePowerDown": [TxType.PERSISTENT],
   "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
   "DongleId": [TxType.PERSISTENT],
   "GitBranch": [TxType.PERSISTENT],
@@ -81,6 +84,7 @@ keys = {
   "LiveParameters": [TxType.PERSISTENT],
   "LongitudinalControl": [TxType.PERSISTENT],
   "OpenpilotEnabledToggle": [TxType.PERSISTENT],
+  "LaneChangeEnabled": [TxType.PERSISTENT],
   "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
@@ -93,6 +97,7 @@ keys = {
   "TermsVersion": [TxType.PERSISTENT],
   "TrainingVersion": [TxType.PERSISTENT],
   "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
+  "UpdateFailedCount": [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],
@@ -104,6 +109,7 @@ keys = {
   #dragonpilot config
   "DragonEnableDashcam": [TxType.PERSISTENT],
   "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
+  "DragonEnableAutoShutdown": [TxType.PERSISTENT],
   "DragonAutoShutdownAt": [TxType.PERSISTENT],
   "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
   "DragonEnableLogger": [TxType.PERSISTENT],
@@ -149,22 +155,31 @@ keys = {
   "DragonUILead": [TxType.PERSISTENT],
   "DragonUIPath": [TxType.PERSISTENT],
   "DragonUIBlinker": [TxType.PERSISTENT],
+  "DragonUIDMView": [TxType.PERSISTENT],
   "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
   "DragonCarModel": [TxType.PERSISTENT],
-  "DragonCarVIN": [TxType.PERSISTENT], #deprecated
   "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
   "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
   "DragonToyotaSnGMod": [TxType.PERSISTENT],
   "DragonEnableSRLearner": [TxType.PERSISTENT],
   "DragonWazeMode": [TxType.PERSISTENT],
   "DragonRunWaze": [TxType.PERSISTENT],
-  "DragonEnableAssistedLC": [TxType.PERSISTENT],
   "DragonEnableAutoLC": [TxType.PERSISTENT],
   "DragonAssistedLCMinMPH": [TxType.PERSISTENT],
   "DragonAutoLCMinMPH": [TxType.PERSISTENT],
   "DragonAutoLCDelay": [TxType.PERSISTENT],
   "DragonBTG": [TxType.PERSISTENT],
   "DragonBootHotspot": [TxType.PERSISTENT],
+  "DragonAccelProfile": [TxType.PERSISTENT],
+  "DragonLastModified": [TxType.PERSISTENT],
+  "DragonEnableRegistration": [TxType.PERSISTENT],
+  "DragonDynamicFollow": [TxType.PERSISTENT],
+  "DragonEnableGearCheck": [TxType.PERSISTENT],
+  "DragonEnableTempMonitor": [TxType.PERSISTENT],
+  "DragonEnableCurvatureLearner": [TxType.PERSISTENT],
+  "DragonCurvatureLearnerOffset": [TxType.PERSISTENT],
+  "DragonAppAutoUpdate": [TxType.PERSISTENT],
+  "DragonUpdating": [TxType.CLEAR_ON_MANAGER_START],
 }
 
 
@@ -469,10 +484,10 @@ if __name__ == "__main__":
       pp = params.get(k)
       if pp is None:
         print("%s is None" % k)
-      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
+      elif all(chr(c) in string.printable for c in pp):
         print("%s = %s" % (k, pp))
       else:
-        print("%s = %s" % (k, pp.encode("hex")))
+        print("%s = %s" % (k, binascii.hexlify(pp)))
 
   # Test multiprocess:
   # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05

dragonpilot/chinese-fonts/installer.sh

@@ -31,7 +31,7 @@
 
 
 # Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
-lang=en
+lang=zh-CN
 
 update_font=0
 remove_old_font=0

opendbc/.github/workflows/tests.yml

@@ -0,0 +1,24 @@
+name: Tests
+
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-16.04
+
+    steps:
+      - uses: actions/checkout@v2
+      - run: |
+          set -e
+          docker build -t opendbc .
+        name: "Build"
+      - run: |
+          docker run opendbc bash -c "python -m unittest discover opendbc"
+        name: "Unit tests"
+      - run: |
+          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
+          docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
+        name: "Python linter"
+      - run: |
+          docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
+        name: "Generator test"

opendbc/azure-pipelines.yml

@@ -1,19 +0,0 @@
-pr: none
-
-pool:
-  vmImage: 'ubuntu-16.04'
-steps:
-- script: |
-    set -e
-    docker build -t opendbc .
-  displayName: 'Build'
-- script: |
-    docker run opendbc bash -c "python -m unittest discover opendbc"
-  displayName: 'Unit tests'
-- script: |
-    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
-    docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
-  displayName: 'Python linter'
-- script: |
-    docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
-  displayName: 'Generator test'

opendbc/can/common.cc

@@ -85,6 +85,12 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x117: // ACC_10 Automatic Cruise Control
       crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
       break;
+    case 0x120: // TSK_06 Drivetrain Coordinator
+      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      break;
+    case 0x121: // Motor_20 Driver Throttle Inputs
+      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
+      break;
     case 0x122: // ACC_06 Automatic Cruise Control
       crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
       break;

opendbc/chrysler_pacifica_2017_hybrid.dbc

@@ -429,5 +429,5 @@ CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
-VAL_ 746 PRNDL 5 "Low" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
+VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

opendbc/generator/honda/_bosch_2018.dbc

@@ -54,13 +54,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -167,6 +160,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -291,5 +360,9 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

opendbc/generator/honda/_dual_can_nidec_2018.dbc

@@ -56,6 +56,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -63,6 +64,13 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -93,12 +101,15 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  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_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  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
@@ -138,7 +149,7 @@ BO_ 780 ACC_HUD: 8 ADAS
  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_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
@@ -148,10 +159,12 @@ BO_ 780 ACC_HUD: 8 ADAS
  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_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
@@ -201,6 +214,7 @@ 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 +224,7 @@ 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" ;

opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/generator/honda/honda_accord_s2t_2018_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/generator/honda/honda_civic_sedan_16_diesel_2019_can.dbc

@@ -0,0 +1,57 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+BO_ 316 GAS_PEDAL_2: 8 XXX
+ SG_ CAR_GAS : 39|8@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_ 419 GEARBOX: 8 XXX
+ SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ 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|15] "" EON
+
+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|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+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|15] "" EON
+
+VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P" ;
+VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/generator/honda/honda_crv_ex_2017_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/generator/honda/honda_crv_hybrid_2019_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/generator/honda/honda_insight_ex_2019_can.dbc

@@ -1,5 +1,12 @@
 CM_ "IMPORT _bosch_2018.dbc"
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON

opendbc/generator/toyota/_toyota_nodsu_bsm.dbc

@@ -0,0 +1,14 @@
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";

opendbc/generator/toyota/lexus_ct200h_2018_pt.dbc

@@ -2,9 +2,8 @@ CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
 
 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
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|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
@@ -14,6 +13,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/lexus_gs300h_2017_pt.dbc

@@ -14,6 +14,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/lexus_nx300h_2018_pt.dbc

@@ -14,6 +14,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/lexus_rx_350_2016_pt.dbc

@@ -11,6 +11,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc

@@ -14,6 +14,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/toyota_avalon_2017_pt.dbc

@@ -15,6 +15,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/toyota_corolla_2017_pt.dbc

@@ -14,6 +14,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/toyota_highlander_2017_pt.dbc

@@ -15,6 +15,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc

@@ -14,6 +14,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/toyota_nodsu_hybrid_pt.dbc

@@ -1,5 +1,6 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
+CM_ "IMPORT _toyota_nodsu_bsm.dbc"
 
 BO_ 295 GEAR_PACKET: 8 XXX
  SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX

opendbc/generator/toyota/toyota_nodsu_pt.dbc

@@ -1,5 +1,6 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
+CM_ "IMPORT _toyota_nodsu_bsm.dbc"
 
 BO_ 401 STEERING_LTA: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX

opendbc/generator/toyota/toyota_rav4_2017_pt.dbc

@@ -14,6 +14,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc

@@ -14,6 +14,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/toyota_sienna_xle_2018_pt.dbc

@@ -15,6 +15,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/gm_global_a_powertrain.dbc

@@ -241,7 +241,7 @@ VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
 VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
 VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
-VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;

opendbc/honda_accord_lx15t_2018_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -171,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -295,12 +364,23 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_accord_lx15t_2018_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -171,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -295,12 +364,23 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_accord_s2t_2018_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -171,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -295,12 +364,23 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc

@@ -0,0 +1,431 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
+ SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
+CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
+CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
+CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here"
+
+
+BO_ 316 GAS_PEDAL_2: 8 XXX
+ SG_ CAR_GAS : 39|8@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_ 419 GEARBOX: 8 XXX
+ SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ 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|15] "" EON
+
+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|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+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|15] "" EON
+
+VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P" ;
+VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -171,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -295,12 +364,23 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_crv_ex_2017_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 401 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
  SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -171,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -295,12 +364,23 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_crv_hybrid_2019_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

opendbc/honda_fit_hybrid_2018_can_generated.dbc

@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
 
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
  SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -85,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -115,12 +123,15 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
  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_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
  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
@@ -160,7 +171,7 @@ BO_ 780 ACC_HUD: 8 ADAS
  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_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
@@ -170,10 +181,12 @@ BO_ 780 ACC_HUD: 8 ADAS
  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_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
 
@@ -223,6 +236,7 @@ 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 +246,7 @@ 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" ;

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -58,13 +58,6 @@ BO_ 232 BRAKE_HOLD: 7 XXX
  SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
 
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
  SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
@@ -171,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
  SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
 
+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
  SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
  SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -295,12 +364,23 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 
 CM_ "honda_insight_ex_2019_can.dbc starts here"
 
 
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ 
 BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON

opendbc/lexus_ct200h_2018_pt_generated.dbc

@@ -361,9 +361,8 @@ 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
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|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
@@ -373,6 +372,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/lexus_gs300h_2017_pt_generated.dbc

@@ -373,6 +373,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/lexus_nx300h_2018_pt_generated.dbc

@@ -373,6 +373,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/lexus_rx_350_2016_pt_generated.dbc

@@ -370,6 +370,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/lexus_rx_hybrid_2017_pt_generated.dbc

@@ -373,6 +373,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/nissan_2017.dbc

@@ -45,26 +45,28 @@ BO_ 645 WheelspeedRear: 8 XXX
  SG_ RR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
  SG_ RL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
 
-BO_ 768 STEER_TORQUE: 8 XXX
- SG_ STEERING_TOURQUE : 0|7@1+ (1,0) [0|127] "" XXX
+BO_ 768 STEER_TORQUE: 2 XXX
+ SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ DriverTouchingWheel : 15|1@0+ (-1,1) [0|7] "" XXX
 
 BO_ 459 Maybe_RegenBraking: 8 XXX
 
 BO_ 372 Maybe_Gear_Selector: 8 XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 35|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 460 Maybe_Brake_Related: 8 XXX
 
 BO_ 2 SteeringWheel: 8 XXX
- SG_ Steering_RateChange : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ Always_07 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Steering_RateChange : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Always_07 : 24|8@1+ (1,0) [0|255] "" XXX
  SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 384 Maybe_PowerInfo: 8 XXX
- SG_ Unknown_Timer_PowerInfo : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Unknown_Timer_PowerInfo : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ EnginePower : 27|12@0- (1,0) [0|1] "" XXX
  SG_ RequestedAccel : 23|12@0- (1,0) [0|4294967295] "" XXX
 
@@ -78,32 +80,13 @@ BO_ 666 WheelspeedFront: 8 XXX
  SG_ FR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
  SG_ FL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
 
-BO_ 398 NEW_MSG_2: 8 XXX
-
-BO_ 389 NEW_MSG_3: 8 XXX
- SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 22|6@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|127] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 30|8@0- (1,0) [0|255] "" XXX
-
-BO_ 397 NEW_MSG_4: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|31] "" XXX
-
-BO_ 658 NEW_MSG_5: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 855 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 773 NEW_MSG_7: 8 XXX
- SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+BO_ 389 Steering: 8 XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Torque : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CRC : 63|8@0+ (1,0) [0|127] "" XXX
+ SG_ Angle : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ DriverTorque : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
 
 BO_ 851 SPEED_RELATED: 8 XXX
  SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
@@ -111,31 +94,30 @@ BO_ 851 SPEED_RELATED: 8 XXX
 BO_ 386 Accelerator: 8 XXX
  SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
 
-BO_ 347 ACCELSOMETHING: 8 XXX
- SG_ PowerMaybe : 9|10@0+ (1,0) [0|1023] "" XXX
- SG_ ACCELERATOR2 : 6|11@0+ (1,-800) [0|65535] "" XXX
-
-BO_ 346 ANOTHER_ACCEL: 8 XXX
- SG_ ANOTHERACCEL : 23|10@0+ (1,0) [0|1023] "" XXX
- SG_ Reverse_ACCEL : 25|10@0+ (1,0) [0|1023] "" XXX
-
-BO_ 348 FULLRANGEACCEL: 8 XXX
- SG_ AccelFullRange : 47|10@0+ (1,0) [0|1023] "" XXX
- SG_ Accel : 26|11@0+ (1,0) [0|2047] "" XXX
+BO_ 348 Throttle: 8 XXX
  SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ Throttle : 26|11@0+ (1,0) [0|2047] "" XXX
+ SG_ ThrottlePedal : 47|10@0+ (1,0) [0|1023] "" XXX
 
-BO_ 566 ANOTHERFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERFULLRANGEACCEL : 43|8@0+ (1,0) [0|1023] "" XXX
- SG_ RPMORTORQUE : 31|8@0+ (1,0) [0|255] "" XXX
+BO_ 523 CruiseThrottle: 6 XXX
+ SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
+ SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX
+ SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
+ SG_ unsure1 : 7|16@0+ (1,0) [0|15] "" XXX
+ SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
+ SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
 
-BO_ 523 Yetyetanotheraccel: 8 XXX
- SG_ ANOTHERREVERSEACCEL : 37|10@0+ (1,0) [0|1023] "" XXX
- SG_ yetyetanotheraccel : 31|10@0+ (1,0) [0|255] "" XXX
-
-BO_ 779 ANOTHERRRFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERRRFULLRANGEACCEL : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1108 Doors: 8 XXX
+BO_ 1108 DoorsLights: 8 XXX
  SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -145,29 +127,25 @@ BO_ 1108 Doors: 8 XXX
  SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
  SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
  SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 403 LKAS_OLD: 8 XXX
  SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ Angle_2 : 32|13@0+ (1,-4000) [0|63] "" XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ Angle_1 : 10|13@0+ (0.12,-480) [0|65535] "" XXX
  SG_ Steering_Torque : 7|13@0+ (-1,4000) [0|65535] "" XXX
  SG_ Torque_Command : 29|13@0+ (1,-4000) [0|255] "" XXX
 
-BO_ 412 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 361 LKAS: 8 XXX
- SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_X80 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ LKA_Active : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
+ SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
  SG_ CRC : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ Des_Angle : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
 
 BO_ 438 ProPilot: 8 XXX
  SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|255] "" XXX
@@ -175,10 +153,108 @@ BO_ 438 ProPilot: 8 XXX
  SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|7] "" XXX
  SG_ Counter : 55|4@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_3 : 32|2@1+ (1,0) [0|15] "" XXX
+ SG_ SET_3 : 33|2@0+ (1,0) [0|15] "" XXX
  SG_ NEW_SIGNAL_1 : 7|12@0- (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 23|12@0- (-1,0) [0|255] "" XXX
- SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
  SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ STEER_STATUS : 51|1@1+ (1,0) [0|3] "" XXX
- 
+ SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 397 _GEAR: 8 XXX
+ SG_ GEAR : 27|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1273 _SEATBELT: 7 XXX
+ SG_ DRIVERS_SEATBELT : 25|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 665 _ESP: 8 XXX
+ SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1055 GEARBOX: 2 XXX
+ SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
+ SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX
+ SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX
+ SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
+
+BO_ 689 PROPILOT_HUD: 8 XXX
+ SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
+ SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown39 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown8 : 8|7@0+ (1,0) [0|63] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+
+
+
+
+
+VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
+VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
+VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
+VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;

opendbc/subaru_global_2017.dbc

@@ -120,6 +120,8 @@ BO_ 312 Brake_Pressure_L_R: 8 XXX
  SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
 
 BO_ 313 Brake_Pedal: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
  SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
 

opendbc/toyota_avalon_2017_pt_generated.dbc

@@ -374,6 +374,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/toyota_corolla_2017_pt_generated.dbc

@@ -373,6 +373,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/toyota_highlander_2017_pt_generated.dbc

@@ -374,6 +374,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc

@@ -373,6 +373,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/toyota_nodsu_hybrid_pt_generated.dbc

@@ -1,6 +1,23 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
 
 
+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+
 CM_ "Imported file _comma.dbc starts here"
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
  SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
@@ -360,6 +377,7 @@ CM_ "toyota_nodsu_hybrid_pt.dbc starts here"
 
 
 
+
 BO_ 295 GEAR_PACKET: 8 XXX
  SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
  SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX

opendbc/toyota_nodsu_pt_generated.dbc

@@ -1,6 +1,23 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
 
 
+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+
 CM_ "Imported file _comma.dbc starts here"
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
  SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
@@ -360,6 +377,7 @@ CM_ "toyota_nodsu_pt.dbc starts here"
 
 
 
+
 BO_ 401 STEERING_LTA: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

opendbc/toyota_rav4_2017_pt_generated.dbc

@@ -373,6 +373,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc

@@ -373,6 +373,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/toyota_sienna_xle_2018_pt_generated.dbc

@@ -374,6 +374,7 @@ 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: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/vw_mqb_2010.dbc

@@ -825,6 +825,8 @@ BO_ 1648 Motor_18: 8 Motor_Diesel_MQB
  SG_ MO_obere_Drehzahlgrenze : 56|8@1+ (50,0) [50|12750] "Unit_MinutInver" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 
 BO_ 289 Motor_20: 8 Motor_Diesel_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX
  SG_ MO_Fahrpedalrohwert_01 : 12|8@1+ (0.4,0) [0|101.6] "Unit_PerCent" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ MO_QBit_Fahrpedalwerte_01 : 20|1@1+ (1,0) [0|1] "" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ MO_Fahrpedalgradient : 21|8@1+ (25,0) [0|6350] "Unit_PerCentPerSecon" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
@@ -1106,8 +1108,8 @@ BO_ 1413 Systeminfo_01: 8 Gateway_MQB
  SG_ SI_BUS_15 : 30|1@1+ (1,0) [0|1] "" Vector__XXX
 
 BO_ 288 TSK_06: 8 Motor_Diesel_MQB
- SG_ TSK_06_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
- SG_ TSK_06_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_Radbremsmom : 12|12@1+ (8,0) [0|32760] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_Status : 24|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_v_Begrenzung_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB

panda/VERSION

@@ -1 +1 @@
-v1.7.3
+v1.7.5

panda/board/boards/black.h

@@ -99,7 +99,7 @@ void black_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable OBD mode
         set_gpio_mode(GPIOB, 12, MODE_INPUT);
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -198,7 +198,7 @@ void black_init(void) {
   black_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_NORMAL) {
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 
@@ -210,12 +210,12 @@ const harness_configuration black_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
-  .GPIO_relay_normal = GPIOC,
-  .GPIO_relay_flipped = GPIOC,
+  .GPIO_relay_SBU1 = GPIOC,
+  .GPIO_relay_SBU2 = GPIOC,
   .pin_SBU1 = 0,
   .pin_SBU2 = 3,
-  .pin_relay_normal = 10,
-  .pin_relay_flipped = 11,
+  .pin_relay_SBU1 = 10,
+  .pin_relay_SBU2 = 11,
   .adc_channel_SBU1 = 10,
   .adc_channel_SBU2 = 13
 };

panda/board/boards/uno.h

@@ -113,7 +113,7 @@ void uno_set_can_mode(uint8_t mode){
   switch (mode) {
     case CAN_MODE_NORMAL:
     case CAN_MODE_OBD_CAN2:
-      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
+      if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
         // B12,B13: disable OBD mode
         set_gpio_mode(GPIOB, 12, MODE_INPUT);
         set_gpio_mode(GPIOB, 13, MODE_INPUT);
@@ -230,7 +230,7 @@ void uno_init(void) {
   uno_set_can_mode(CAN_MODE_NORMAL);
 
   // flip CAN0 and CAN2 if we are flipped
-  if (car_harness_status == HARNESS_STATUS_NORMAL) {
+  if (car_harness_status == HARNESS_STATUS_FLIPPED) {
     can_flip_buses(0, 2);
   }
 
@@ -252,12 +252,12 @@ const harness_configuration uno_harness_config = {
   .has_harness = true,
   .GPIO_SBU1 = GPIOC,
   .GPIO_SBU2 = GPIOC,
-  .GPIO_relay_normal = GPIOC,
-  .GPIO_relay_flipped = GPIOC,
+  .GPIO_relay_SBU1 = GPIOC,
+  .GPIO_relay_SBU2 = GPIOC,
   .pin_SBU1 = 0,
   .pin_SBU2 = 3,
-  .pin_relay_normal = 10,
-  .pin_relay_flipped = 11,
+  .pin_relay_SBU1 = 10,
+  .pin_relay_SBU2 = 11,
   .adc_channel_SBU1 = 10,
   .adc_channel_SBU2 = 13
 };

panda/board/config.h

@@ -36,6 +36,10 @@
      __typeof__ (b) _b = (b); \
    (_a > _b) ? _a : _b; })
 
+#define ABS(a) \
+ ({ __typeof__ (a) _a = (a); \
+   (_a > 0) ? _a : (-_a); })
+
 #define MAX_RESP_LEN 0x40U
 
 // Around (1Mbps / 8 bits/byte / 12 bytes per message)

panda/board/crc.h

@@ -0,0 +1,16 @@
+uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly) {
+  uint8_t crc = 0xFF;
+  int i, j;
+  for (i = len - 1; i >= 0; i--) {
+    crc ^= dat[i];
+    for (j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U) {
+        crc = (uint8_t)((crc << 1) ^ poly);
+      }
+      else {
+        crc <<= 1;
+      }
+    }
+  }
+  return crc;
+}

panda/board/drivers/can.h

@@ -28,6 +28,7 @@ void can_set_forwarding(int from, int to);
 
 void can_init(uint8_t can_number);
 void can_init_all(void);
+bool can_tx_check_min_slots_free(uint32_t min);
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
 bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
 
@@ -107,6 +108,20 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
   return ret;
 }
 
+uint32_t can_slots_empty(can_ring *q) {
+  uint32_t ret = 0;
+
+  ENTER_CRITICAL();
+  if (q->w_ptr >= q->r_ptr) {
+    ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
+  } else {
+    ret = q->r_ptr - q->w_ptr - 1U;
+  }
+  EXIT_CRITICAL();
+
+  return ret;
+}
+
 void can_clear(can_ring *q) {
   ENTER_CRITICAL();
   q->w_ptr = 0;
@@ -317,6 +332,10 @@ void process_can(uint8_t can_number) {
         CAN->sTxMailBox[0].TDHR = to_send.RDHR;
         CAN->sTxMailBox[0].TDTR = to_send.RDTR;
         CAN->sTxMailBox[0].TIR = to_send.RIR;
+
+        if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
+          usb_outep3_resume_if_paused();
+        }
       }
     }
 
@@ -405,6 +424,14 @@ void CAN3_TX_IRQ_Handler(void) { process_can(2); }
 void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
 void CAN3_SCE_IRQ_Handler(void) { can_sce(CAN3); }
 
+bool can_tx_check_min_slots_free(uint32_t min) {
+  return
+    (can_slots_empty(&can_tx1_q) >= min) &&
+    (can_slots_empty(&can_tx2_q) >= min) &&
+    (can_slots_empty(&can_tx3_q) >= min) &&
+    (can_slots_empty(&can_txgmlan_q) >= min);
+}
+
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
   if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
     if (bus_number < BUS_MAX) {

panda/board/drivers/harness.h

@@ -10,12 +10,12 @@ struct harness_configuration {
   const bool has_harness;
   GPIO_TypeDef *GPIO_SBU1;
   GPIO_TypeDef *GPIO_SBU2;
-  GPIO_TypeDef *GPIO_relay_normal;
-  GPIO_TypeDef *GPIO_relay_flipped;
+  GPIO_TypeDef *GPIO_relay_SBU1;
+  GPIO_TypeDef *GPIO_relay_SBU2;
   uint8_t pin_SBU1;
   uint8_t pin_SBU2;
-  uint8_t pin_relay_normal;
-  uint8_t pin_relay_flipped;
+  uint8_t pin_relay_SBU1;
+  uint8_t pin_relay_SBU2;
   uint8_t adc_channel_SBU1;
   uint8_t adc_channel_SBU2;
 };
@@ -30,9 +30,9 @@ void set_intercept_relay(bool intercept) {
     }
 
     if(car_harness_status == HARNESS_STATUS_NORMAL){
-      set_gpio_output(current_board->harness_config->GPIO_relay_normal, current_board->harness_config->pin_relay_normal, !intercept);
+      set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !intercept);
     } else {
-      set_gpio_output(current_board->harness_config->GPIO_relay_flipped, current_board->harness_config->pin_relay_flipped, !intercept);
+      set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !intercept);
     }
   }
 }
@@ -41,10 +41,10 @@ bool harness_check_ignition(void) {
   bool ret = false;
   switch(car_harness_status){
     case HARNESS_STATUS_NORMAL:
-      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
       break;
     case HARNESS_STATUS_FLIPPED:
-      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
+      ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
       break;
     default:
       break;
@@ -62,11 +62,11 @@ uint8_t harness_detect_orientation(void) {
   // Detect connection and orientation
   if((sbu1_voltage < HARNESS_CONNECTED_THRESHOLD) || (sbu2_voltage < HARNESS_CONNECTED_THRESHOLD)){
     if (sbu1_voltage < sbu2_voltage) {
-      // orientation normal
-      ret = HARNESS_STATUS_NORMAL;
-    } else {
-      // orientation flipped
+      // orientation flipped (PANDA_SBU1->HARNESS_SBU1(relay), PANDA_SBU2->HARNESS_SBU2(ign))
       ret = HARNESS_STATUS_FLIPPED;
+    } else {
+      // orientation normal (PANDA_SBU2->HARNESS_SBU1(relay), PANDA_SBU1->HARNESS_SBU2(ign))
+      ret = HARNESS_STATUS_NORMAL;
     }
   }
   #endif
@@ -90,13 +90,6 @@ void harness_init(void) {
     set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
     set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
 
-    // now we have orientation, set pin ignition detection
-    if(car_harness_status == HARNESS_STATUS_NORMAL){
-      set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
-    } else {
-      set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
-    }
-
     // keep busses connected by default
     set_intercept_relay(false);
   } else {

panda/board/drivers/llcan.h

@@ -11,7 +11,7 @@
 #define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
 #define GET_LEN(msg) ((msg)->RDTR & 0xF)
 #define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
-#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
 #define GET_BYTES_04(msg) ((msg)->RDLR)
 #define GET_BYTES_48(msg) ((msg)->RDHR)
 
@@ -52,7 +52,7 @@ bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool s
 void llcan_init(CAN_TypeDef *CAN_obj) {
   // Enter init mode
   register_set_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
-  
+
   // Wait for INAK bit to be set
   while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {}
 

panda/board/drivers/usb.h

@@ -23,12 +23,16 @@ typedef union _USB_Setup {
 }
 USB_Setup_TypeDef;
 
+#define MAX_CAN_MSGS_PER_BULK_TRANSFER 4U
+
 void usb_init(void);
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
 int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
 void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
 void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
+void usb_cb_ep3_out_complete(void);
 void usb_cb_enumeration_complete(void);
+void usb_outep3_resume_if_paused(void);
 
 // **** supporting defines ****
 
@@ -380,6 +384,7 @@ USB_Setup_TypeDef setup;
 uint8_t usbdata[0x100];
 uint8_t* ep0_txdata = NULL;
 uint16_t ep0_txlen = 0;
+bool outep3_processing = false;
 
 // Store the current interface alt setting.
 int current_int0_alt_setting = 0;
@@ -744,6 +749,7 @@ void usb_irqhandler(void) {
       }
 
       if (endpoint == 3) {
+        outep3_processing = true;
         usb_cb_ep3_out(usbdata, len, 1);
       }
     } else if (status == STS_SETUP_UPDT) {
@@ -816,15 +822,17 @@ void usb_irqhandler(void) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET XFRC\n");
       #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+      // NAK cleared by process_can (if tx buffers have room)
+      outep3_processing = false;
+      usb_cb_ep3_out_complete();
     } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
       #ifdef DEBUG_USB
         puts("  OUT3 PACKET WTF\n");
       #endif
       // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      // TODO: why was this here? fires when TX buffers when we can't clear NAK
+      // USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+      // USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
     } else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
       puts("OUTEP3 error ");
       puth(USBx_OUTEP(3)->DOEPINT);
@@ -932,6 +940,15 @@ void usb_irqhandler(void) {
   //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
 }
 
+void usb_outep3_resume_if_paused() {
+  ENTER_CRITICAL();
+  if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
+    USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+    USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+  }
+  EXIT_CRITICAL();
+}
+
 void OTG_FS_IRQ_Handler(void) {
   NVIC_DisableIRQ(OTG_FS_IRQn);
   //__disable_irq();

panda/board/get_sdk_mac.sh

@@ -1,5 +1,7 @@
 #!/bin/bash
 # Need formula for gcc
+sudo easy_install pip
+/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
 brew tap ArmMbed/homebrew-formulae
 brew install python dfu-util arm-none-eabi-gcc
 pip install --user libusb1 pycrypto requests

panda/board/main.c

@@ -235,6 +235,12 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   }
 }
 
+void usb_cb_ep3_out_complete() {
+  if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
+    usb_outep3_resume_if_paused();
+  }
+}
+
 void usb_cb_enumeration_complete() {
   puts("USB enumeration complete\n");
   is_enumerated = 1;
@@ -469,6 +475,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
         can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
       }
       break;
+    // **** 0xdf: set unsafe mode
+    case 0xdf:
+      // you can only set this if you are in a non car safety mode
+      if ((current_safety_mode == SAFETY_SILENT) ||
+          (current_safety_mode == SAFETY_NOOUTPUT) ||
+          (current_safety_mode == SAFETY_ELM327)) {
+        unsafe_mode = setup->b.wValue.w;
+      }
+      break;
     // **** 0xe0: uart read
     case 0xe0:
       ur = get_ring_by_number(setup->b.wValue.w);

panda/board/pedal/main.c

@@ -19,6 +19,7 @@
 #include "drivers/timer.h"
 
 #include "gpio.h"
+#include "crc.h"
 
 #define CAN CAN1
 
@@ -75,6 +76,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
   UNUSED(len);
   UNUSED(hardwired);
 }
+void usb_cb_ep3_out_complete(void) {}
 void usb_cb_enumeration_complete(void) {}
 
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
@@ -105,26 +107,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
 
 #endif
 
-// ***************************** pedal can checksum *****************************
-
-uint8_t pedal_checksum(uint8_t *dat, int len) {
-  uint8_t crc = 0xFF;
-  uint8_t poly = 0xD5; // standard crc8
-  int i, j;
-  for (i = len - 1; i >= 0; i--) {
-    crc ^= dat[i];
-    for (j = 0; j < 8; j++) {
-      if ((crc & 0x80U) != 0U) {
-        crc = (uint8_t)((crc << 1) ^ poly);
-      }
-      else {
-        crc <<= 1;
-      }
-    }
-  }
-  return crc;
-}
-
 // ***************************** can port *****************************
 
 // addresses to be used on CAN
@@ -155,6 +137,8 @@ uint32_t current_index = 0;
 #define FAULT_INVALID 6U
 uint8_t state = FAULT_STARTUP;
 
+const uint8_t crc_poly = 0xD5;  // standard crc8
+
 void CAN1_RX0_IRQ_Handler(void) {
   while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
     #ifdef DEBUG
@@ -184,7 +168,7 @@ void CAN1_RX0_IRQ_Handler(void) {
       uint16_t value_1 = (dat[2] << 8) | dat[3];
       bool enable = ((dat[4] >> 7) & 1U) != 0U;
       uint8_t index = dat[4] & COUNTER_CYCLE;
-      if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
+      if (crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly) == dat[5]) {
         if (((current_index + 1U) & COUNTER_CYCLE) == index) {
           #ifdef DEBUG
             puts("setting gas ");
@@ -247,7 +231,7 @@ void TIM3_IRQ_Handler(void) {
     dat[2] = (pdl1 >> 8) & 0xFFU;
     dat[3] = (pdl1 >> 0) & 0xFFU;
     dat[4] = ((state & 0xFU) << 4) | pkt_idx;
-    dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
+    dat[5] = crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly);
     CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1] << 8) | (dat[2] << 16) | (dat[3] << 24);
     CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5] << 8);
     CAN->sTxMailBox[0].TDTR = 6;  // len of packet is 5

panda/board/safety.h

@@ -4,7 +4,6 @@
 #include "safety/safety_defaults.h"
 #include "safety/safety_honda.h"
 #include "safety/safety_toyota.h"
-#include "safety/safety_toyota_ipas.h"
 #include "safety/safety_tesla.h"
 #include "safety/safety_gm_ascm.h"
 #include "safety/safety_gm.h"
@@ -14,6 +13,7 @@
 #include "safety/safety_chrysler.h"
 #include "safety/safety_subaru.h"
 #include "safety/safety_mazda.h"
+#include "safety/safety_nissan.h"
 #include "safety/safety_volkswagen.h"
 #include "safety/safety_elm327.h"
 
@@ -31,12 +31,14 @@
 #define SAFETY_TESLA 10U
 #define SAFETY_SUBARU 11U
 #define SAFETY_MAZDA 13U
-#define SAFETY_VOLKSWAGEN 15U
-#define SAFETY_TOYOTA_IPAS 16U
+#define SAFETY_NISSAN 14U
+#define SAFETY_VOLKSWAGEN_MQB 15U
 #define SAFETY_ALLOUTPUT 17U
 #define SAFETY_GM_ASCM 18U
 #define SAFETY_NOOUTPUT 19U
 #define SAFETY_HONDA_BOSCH_HARNESS 20U
+#define SAFETY_VOLKSWAGEN_PQ 21U
+#define SAFETY_SUBARU_LEGACY 22U
 
 uint16_t current_safety_mode = SAFETY_SILENT;
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -57,6 +59,21 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   return current_hooks->fwd(bus_num, to_fwd);
 }
 
+// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
+// algorithm. Called at init time for safety modes using CRC-8.
+void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
+  for (int i = 0; i < 256; i++) {
+    uint8_t crc = i;
+    for (int j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U)
+        crc = (uint8_t)((crc << 1) ^ poly);
+      else
+        crc <<= 1;
+    }
+    crc_lut[i] = crc;
+  }
+}
+
 bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
   bool allowed = false;
   for (int i = 0; i < len; i++) {
@@ -167,6 +184,15 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
   return is_msg_valid(rx_checks, index);
 }
 
+void relay_malfunction_set(void) {
+  relay_malfunction = true;
+  fault_occurred(FAULT_RELAY_MALFUNCTION);
+}
+
+void relay_malfunction_reset(void) {
+  relay_malfunction = false;
+  fault_recovered(FAULT_RELAY_MALFUNCTION);
+}
 
 typedef struct {
   uint16_t id;
@@ -184,13 +210,15 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_CHRYSLER, &chrysler_hooks},
   {SAFETY_SUBARU, &subaru_hooks},
+  {SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
   {SAFETY_MAZDA, &mazda_hooks},
-  {SAFETY_VOLKSWAGEN, &volkswagen_hooks},
+  {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
+  {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
   {SAFETY_NOOUTPUT, &nooutput_hooks},
 #ifdef ALLOW_DEBUG
   {SAFETY_CADILLAC, &cadillac_hooks},
-  {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
   {SAFETY_TESLA, &tesla_hooks},
+  {SAFETY_NISSAN, &nissan_hooks},
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
   {SAFETY_GM_ASCM, &gm_ascm_hooks},
   {SAFETY_FORD, &ford_hooks},

panda/board/safety/safety_chrysler.h

@@ -4,28 +4,79 @@ const uint32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
 const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
+const int CHRYSLER_GAS_THRSLD = 30;  // 7% more than 2m/s
+const int CHRYSLER_STANDSTILL_THRSLD = 10;  // about 1m/s
 const AddrBus CHRYSLER_TX_MSGS[] = {{571, 0}, {658, 0}, {678, 0}};
 
 // TODO: do checksum and counter checks
 AddrCheckStruct chrysler_rx_checks[] = {
-  {.addr = {544}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {500}, .bus = 0, .expected_timestep = 20000U},
+  {.addr = {544}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
+  {.addr = {514}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
+  {.addr = {500}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
+  {.addr = {308}, .bus = 0, .check_checksum = false, .max_counter = 15U,  .expected_timestep = 20000U},
+  {.addr = {320}, .bus = 0, .check_checksum = true, .max_counter = 15U,  .expected_timestep = 20000U},
 };
 const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
 
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
+int chrysler_speed = 0;
 uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured
 
+static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  int checksum_byte = GET_LEN(to_push) - 1;
+  return (uint8_t)(GET_BYTE(to_push, checksum_byte));
+}
+
+static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  /* This function does not want the checksum byte in the input data.
+  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  uint8_t checksum = 0xFF;
+  int len = GET_LEN(to_push);
+  for (int j = 0; j < (len - 1); j++) {
+    uint8_t shift = 0x80;
+    uint8_t curr = (uint8_t)GET_BYTE(to_push, j);
+    for (int i=0; i<8; i++) {
+      uint8_t bit_sum = curr & shift;
+      uint8_t temp_chk = checksum & 0x80U;
+      if (bit_sum != 0U) {
+        bit_sum = 0x1C;
+        if (temp_chk != 0U) {
+          bit_sum = 1;
+        }
+        checksum = checksum << 1;
+        temp_chk = checksum | 1U;
+        bit_sum ^= temp_chk;
+      } else {
+        if (temp_chk != 0U) {
+          bit_sum = 0x1D;
+        }
+        checksum = checksum << 1;
+        bit_sum ^= checksum;
+      }
+      checksum = bit_sum;
+      shift = shift >> 1;
+    }
+  }
+  return ~checksum;
+}
+
+static uint8_t chrysler_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  // Well defined counter only for 8 bytes messages
+  return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
+}
+
 static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+                                 chrysler_get_checksum, chrysler_compute_checksum,
+                                 chrysler_get_counter);
 
-  if (valid) {
-    int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
+  if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
     // Measured eps torque
@@ -37,7 +88,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
-    if (addr == 0x1F4) {
+    if (addr == 500) {
       int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
       if (cruise_engaged && !chrysler_cruise_engaged_last) {
         controls_allowed = 1;
@@ -48,11 +99,34 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       chrysler_cruise_engaged_last = cruise_engaged;
     }
 
-    // TODO: add gas pressed check
+    // update speed
+    if (addr == 514) {
+      int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
+      int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
+      chrysler_speed = (speed_l + speed_r) / 2;
+    }
+
+    // exit controls on rising edge of gas press
+    if (addr == 308) {
+      bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
+        controls_allowed = 0;
+      }
+      gas_pressed_prev = gas_pressed;
+    }
+
+    // exit controls on rising edge of brake press
+    if (addr == 320) {
+      bool brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
+      if (brake_pressed && (!brake_pressed_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
+    }
 
     // check if stock camera ECU is on bus 0
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
-      relay_malfunction = true;
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x292)) {
+      relay_malfunction_set();
     }
   }
   return valid;

panda/board/safety/safety_defaults.h

@@ -8,7 +8,7 @@ int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 static void nooutput_init(int16_t param) {
   UNUSED(param);
   controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
 }
 
 static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -42,7 +42,7 @@ const safety_hooks nooutput_hooks = {
 static void alloutput_init(int16_t param) {
   UNUSED(param);
   controls_allowed = true;
-  relay_malfunction = false;
+  relay_malfunction_reset();
 }
 
 static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

panda/board/safety/safety_ford.h

@@ -7,14 +7,13 @@
 //      brake rising edge
 //      brake > 0mph
 
-int ford_brake_prev = 0;
-int ford_gas_prev = 0;
 bool ford_moving = false;
 
 static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   int addr = GET_ADDR(to_push);
   int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
 
   if (addr == 0x217) {
     // wheel speeds are 14 bits every 16
@@ -39,24 +38,24 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // exit controls on rising edge of brake press or on brake press when
   // speed > 0
   if (addr == 0x165) {
-    int brake = GET_BYTE(to_push, 0) & 0x20;
-    if (brake && (!(ford_brake_prev) || ford_moving)) {
+    int brake_pressed = GET_BYTE(to_push, 0) & 0x20;
+    if (brake_pressed && (!brake_pressed_prev || ford_moving)) {
       controls_allowed = 0;
     }
-    ford_brake_prev = brake;
+    brake_pressed_prev = brake_pressed;
   }
 
   // exit controls on rising edge of gas press
   if (addr == 0x204) {
-    int gas = (GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1);
-    if (gas && !(ford_gas_prev)) {
+    bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
+    if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
       controls_allowed = 0;
     }
-    ford_gas_prev = gas;
+    gas_pressed_prev = gas_pressed;
   }
 
   if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x3CA)) {
-    relay_malfunction = true;
+    relay_malfunction_set();
   }
   return 1;
 }
@@ -74,7 +73,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
+  int pedal_pressed = brake_pressed_prev && ford_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev;
+  }
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   if (relay_malfunction) {

panda/board/safety/safety_gm.h

@@ -33,8 +33,6 @@ AddrCheckStruct gm_rx_checks[] = {
 };
 const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);
 
-int gm_brake_prev = 0;
-int gm_gas_prev = 0;
 bool gm_moving = false;
 int gm_rt_torque_last = 0;
 int gm_desired_torque_last = 0;
@@ -46,8 +44,9 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
                                  NULL, NULL, NULL);
 
-  if (valid) {
-    int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
+  if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
 
     if (addr == 388) {
@@ -82,25 +81,22 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of brake press or on brake press when
     // speed > 0
     if (addr == 241) {
-      int brake = GET_BYTE(to_push, 1);
       // Brake pedal's potentiometer returns near-zero reading
       // even when pedal is not pressed
-      if (brake < 10) {
-        brake = 0;
-      }
-      if (brake && (!gm_brake_prev || gm_moving)) {
+      bool brake_pressed = GET_BYTE(to_push, 1) >= 10;
+      if (brake_pressed && (!brake_pressed_prev || gm_moving)) {
          controls_allowed = 0;
       }
-      gm_brake_prev = brake;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of gas press
     if (addr == 417) {
-      int gas = GET_BYTE(to_push, 6);
-      if (gas && !gm_gas_prev) {
+      bool gas_pressed = GET_BYTE(to_push, 6) != 0;
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
         controls_allowed = 0;
       }
-      gm_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
     }
 
     // exit controls on regen paddle
@@ -115,8 +111,8 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // on powertrain bus.
     // 384 = ASCMLKASteeringCmd
     // 715 = ASCMGasRegenCmd
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) {
-      relay_malfunction = true;
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 384) || (addr == 715))) {
+      relay_malfunction_set();
     }
   }
   return valid;
@@ -144,7 +140,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_moving);
+  int pedal_pressed = brake_pressed_prev && gm_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev;
+  }
   bool current_controls_allowed = controls_allowed && !pedal_pressed;
 
   // BRAKE: safety check

panda/board/safety/safety_honda.h

@@ -28,8 +28,6 @@ AddrCheckStruct honda_bh_rx_checks[] = {
 const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);
 
 int honda_brake = 0;
-int honda_gas_prev = 0;
-bool honda_brake_pressed_prev = false;
 bool honda_moving = false;
 bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
@@ -48,7 +46,7 @@ static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
   while (addr > 0U) {
     checksum += (addr & 0xFU); addr >>= 4;
   }
-  for (int j = 0; (j < len); j++) {
+  for (int j = 0; j < len; j++) {
     uint8_t byte = GET_BYTE(to_push, j);
     checksum += (byte & 0xFU) + (byte >> 4U);
     if (j == (len - 1)) {
@@ -74,6 +72,8 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
                               honda_get_checksum, honda_compute_checksum, honda_get_counter);
   }
 
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
   if (valid) {
     int addr = GET_ADDR(to_push);
     int len = GET_LEN(to_push);
@@ -112,10 +112,10 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
     if (is_user_brake_msg) {
       bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
-      if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
+      if (brake_pressed && (!brake_pressed_prev || honda_moving)) {
         controls_allowed = 0;
       }
-      honda_brake_pressed_prev = brake_pressed;
+      brake_pressed_prev = brake_pressed;
     }
 
     // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
@@ -123,9 +123,9 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((addr == 0x201) && (len == 6)) {
       gas_interceptor_detected = 1;
       int gas_interceptor = GET_INTERCEPTOR(to_push);
-      if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
+      if (!unsafe_allow_gas && (gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
           (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
-        controls_allowed = 1;
+        controls_allowed = 0;
       }
       gas_interceptor_prev = gas_interceptor;
     }
@@ -133,25 +133,29 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     // exit controls on rising edge of gas press if no interceptor
     if (!gas_interceptor_detected) {
       if (addr == 0x17C) {
-        int gas = GET_BYTE(to_push, 0);
-        if (gas && !honda_gas_prev) {
-          controls_allowed = 1;
+        bool gas_pressed = GET_BYTE(to_push, 0) != 0;
+        if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
+          controls_allowed = 0;
         }
-        honda_gas_prev = gas;
+        gas_pressed_prev = gas_pressed;
       }
     }
-    if ((bus == 2) && (addr == 0x1FA)) {
-      bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
-      int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
 
-      // Forward AEB when stock braking is higher than openpilot braking
-      // only stop forwarding when AEB event is over
-      if (!honda_stock_aeb) {
-        honda_fwd_brake = false;
-      } else if (honda_stock_brake >= honda_brake) {
-        honda_fwd_brake = true;
-      } else {
-        // Leave Honda forward brake as is
+    // disable stock Honda AEB in unsafe mode
+    if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
+      if ((bus == 2) && (addr == 0x1FA)) {
+        bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
+        int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
+
+        // Forward AEB when stock braking is higher than openpilot braking
+        // only stop forwarding when AEB event is over
+        if (!honda_stock_aeb) {
+          honda_fwd_brake = false;
+        } else if (honda_stock_brake >= honda_brake) {
+          honda_fwd_brake = true;
+        } else {
+          // Leave Honda forward brake as is
+        }
       }
     }
 
@@ -161,7 +165,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
       if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) ||
         ((honda_hw == HONDA_N_HW) && (bus == 0))) {
-        relay_malfunction = true;
+        relay_malfunction_set();
       }
     }
   }
@@ -194,9 +198,11 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  //int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-  //                    (honda_brake_pressed_prev && honda_moving);
-  int pedal_pressed = honda_brake_pressed_prev && honda_moving;
+  int pedal_pressed = brake_pressed_prev && honda_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
+  }
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
 
   // BRAKE: safety check
@@ -251,14 +257,14 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void honda_nidec_init(int16_t param) {
   UNUSED(param);
   controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
   honda_hw = HONDA_N_HW;
   honda_alt_brake_msg = false;
 }
 
 static void honda_bosch_giraffe_init(int16_t param) {
   controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
   honda_hw = HONDA_BG_HW;
   // Checking for alternate brake override from safety parameter
   honda_alt_brake_msg = (param == 1) ? true : false;
@@ -266,7 +272,7 @@ static void honda_bosch_giraffe_init(int16_t param) {
 
 static void honda_bosch_harness_init(int16_t param) {
   controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
   honda_hw = HONDA_BH_HW;
   // Checking for alternate brake override from safety parameter
   honda_alt_brake_msg = (param == 1) ? true : false;