dragonpilot 0.7.6.1

======================== * Based on latest openpilot 0.7.6.1 devel. * Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings) * Completely disabled steer ratio learner. * Removed Accel Profile. * Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿) * Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
Revert "add wrong neos version alert (#1725 )"
2026-08-23 01:04:05 +08:00 · 2020-07-06 20:58:16 +10:00 · 2020-06-19 16:50:38 -07:00 · 2020-06-16 13:42:35 -07:00 · 2020-06-16 13:39:29 -07:00 · 2020-06-16 12:49:38 -07:00
910 changed files with 16152 additions and 214385 deletions
@@ -57,6 +57,8 @@ panda_jungle

 .coverage*
 coverage.xml
+cppcheck_report.txt
 htmlcov
 pandaextra

+.mypy_cache/
@@ -0,0 +1,447 @@
+dragonpilot 0.7.6.1
+========================
+* 基於最新 openpilot 0.7.6.1 devel.
+* Based on latest openpilot 0.7.6.1 devel.
+* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
+* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
+* 完全關閉 steer ratio learner。
+* Completely disabled steer ratio learner.
+* 移除「加速模式」。
+* Removed Accel Profile.
+* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
+* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
+* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
+* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
+
+dragonpilot 0.7.5.4
+========================
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+dragonpilot 0.7.5.3
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+
+dragonpilot 0.7.5.2
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue. 
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+dragonpilot 0.7.5.1
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+dragonpilot 0.7.5.0
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
+
+2020-05-06
+========================
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* 中文版整合進 i18n 版。  
+* 刪除指紋暫存功能。
+* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
+* 新增行駛時關閉畫面功能。
+* 新增倒車時關閉畫面功能。
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* 新增自定義車型。
+
+2020-04-16
+========================
+* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
+* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
+* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
+
+2020-04-13
+========================
+* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
+* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
+* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
+
+2020-04-10
+========================
+* [DEVEL] 更新 panda 至最新的 comma:master 分支。
+* [DEVEL] 移除所有的第三方應用改為自動下載。
+* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+
+2020-03-31
+========================
+* [DEVEL] 更新至 2020-03-31 testing 分支。
+
+2020-03-27
+========================
+* [DEVEL] 更新至最新的 testing 分支:
+  * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+  * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+  * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+  * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+  * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+  * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+  * 加入韓文支持。(感謝 crwusiz 提供)
+  * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+2020-03-22
+========================
+* [DEVEL] 更新至最新的 testing 分支。
+
+2020-03-17
+========================
+* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
+* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+
+2020-03-14
+========================
+* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
+* [DEVEL] 調高 Toyota 扭力容錯值。
+* [DEVEL] 優化讀取 dp 設定值。
+* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [DEVEL] dp 功能加入對 Subaru 車系的支援。
+
+2020-03-06
+========================
+* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [DEVEL] 建立 devel-i18n 取代 devel-en。
+* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
+
+2020-03-04
+========================
+* [DEVEL] 加入顯示駕駛監控畫面。
+* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+2020-02-25
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-21
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-14
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] 修正錯誤。
+
+2020-02-08
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [DEVEL] 加入神盾測速照相自動啟動的開關。
+* [DEVEL] 更新高德地圖至 v4.5.0.600053。
+* [DEVEL] 使用 0.6.6 版的更新系統。
+* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
+
+2020-01-31
+========================
+* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+
+2020-01-29
+========================
+* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+
+2020-01-23
+========================
+* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [DEVEL] 優化 appd。
+
+2020-01-19
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
+* [DEVEL] 調整 appd 和 ALC 邏輯。 
+
+2020-01-14
+========================
+* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+
+2020-01-08
+========================
+* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+2019-12-31
+========================
+* [DEVEL-ZHS] 加回第三方應用。
+
+2019-12-29
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+
+2019-12-18
+========================
+* [DEVEL] 修正自動換道邏輯。
+* [DEVEL] 更新 offroad 翻譯。
+* [DEVEL] 錯誤修正。
+* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+
+2019-12-17
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
+* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
+* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+
+2019-12-10
+========================
+* [DEVEL] 加入位智車機模式。 (Waze Mode)
+
+2019-11-21
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [DEVEL] 調整前車靜止移動偵測參數。
+* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
+
+2019-11-18
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+
+2019-11-18
+========================
+* [DEVEL] 修正 frame 翻譯。
+
+2019-11-15
+========================
+* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+
+2019-11-15
+========================
+* [DEVEL] 修正充電控制。 (感謝 KT 反應)
+* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-12
+========================
+* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
+
+2019-11-12
+========================
+* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
+
+2019-11-11
+========================
+* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [DEVEL] 更新 MiXplorer 至 v6.40.3
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+* [DEVEL] 前車靜止移動偵測加入偵測警示。
+
+2019-11-07
+========================
+* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+
+2019-11-06
+========================
+* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-05
+========================
+* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+
+2019-11-01
+========================
+* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+
+2019-11-01
+========================
+* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
+* [DEVEL] 更新 offroad 為多語言版
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+
+2019-10-29
+========================
+* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
+
+2019-10-28
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+
+2019-10-18
+========================
+* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
+* [DEVEL] 修正 allow_gas 功能。
+
+2019-10-18
+========================
+* [DEVEL] 加入彎道減速功能開關。
+* [DEVEL] 強迫使用 dp 版 Panda 韌體。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+
+2019-10-17
+========================
+* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
+* [DEVEL] 修正充電控制讀取預設值的錯誤。
+* [DEVEL] 修正無法顯示更新記錄的錯誤。
+
+2019-10-16
+========================
+* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
+* [DEVEL] 更新高德地圖至 v4.3.0
+* [DEVEL] 刪除 bs (Branch Switcher)
+
+2019-10-14
+========================
+* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [DEVEL] 清除不再使用的 dp params。
+* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
+* [DEVEL] 加入刷新 Panda 韌體按鈕。
+
+2019-10-11
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+
+2019-10-09
+========================
+* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+2019-10-08
+========================
+* [DEVEL] 加回駕駛監控開關。
+* [DEVEL] 加入 bs (branch switcher) 程式。
+
+2019-10-07
+========================
+* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+
+2019-10-05
+========================
+* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 
+
+2019-09-30
+========================
+* [DEVEL] 更新 curvature learner 版本至 v4。
+* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+
+2019-09-27
+========================
+* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [DEVEL] 加入可開關駕駛監控的程式碼。
+* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+
+2019-09-26
+========================
+* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+
+2019-09-24
+========================
+* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+
+2019-09-23
+========================
+* [DEVEL] 優化讀取 params 的次數。
+* [DEVEL] 加入可開關的車道偏移警示。
+* [DEVEL] 修正充電控制邏輯。
+* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+
+2019-09-20
+========================
+* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+
+2019-09-16
+========================
+* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+
+2019-09-13
+========================
+* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
+
+2019-09-09
+========================
+* [DEVEL] 加入 GreyPanda 模式。
+
+2019-08-28
+========================
+* [DEVEL] 加入可調警示音量。
+
+2019-08-27
+========================
+* [DEVEL] 自動關機改為可調時長。
@@ -0,0 +1,193 @@
+dragonpilot 0.7.5
+========================
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+
+dragonpilot 0.7.4
+========================
+* [2020-04-10] 移除所有的第三方應用改為自動下載。
+* [2020-04-10] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+* [2020-03-31] 還原部分修改代碼以達到 comma ai 安全準則。 (Reverted changes to panda safety code to comply with comma ai safety guideline.)
+* [2020-03-31] 調整「啟用原廠 DSU 模式」為踩剎車時會暫時斷開控制 。(Enable Stock DSU Mode will temporary disable controls when brake is pressed.)
+* [2020-03-27] 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+* [2020-03-27] 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+* [2020-03-27] 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+* [2020-03-27] 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+* [2020-03-27] 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+* [2020-03-27] 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+* [2020-03-27] 加入韓文支持。(感謝 crwusiz 提供)
+* [2020-03-27] 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+dragonpilot 0.7.3
+========================
+* [2020-03-17] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+* [2020-03-14] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [2020-03-14] 加入自動關機開關。(感謝 Rzxd 建議)
+* [2020-03-14] 調高 Toyota 扭力容錯值。
+* [2020-03-14] 優化讀取 dp 設定值。
+* [2020-03-14] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [2020-03-14] dp 功能加入對 Subaru 車系的支援。
+* [2020-03-06] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [2020-03-06] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [2020-03-04] 加入顯示駕駛監控畫面。
+* [2020-03-04] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [2020-03-04] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+dragonpilot 0.7.2
+========================
+* [2020-02-08] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [2020-02-08] 加入神盾測速照相自動啟動的開關。
+* [2020-02-08] 更新高德地圖至 v4.5.0.600053。
+* [2020-02-08] 使用 0.6.6 版的更新系統。
+* [2020-02-08] 修正急剎問題。(感謝 kumar 提供)
+* [2020-01-31] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+* [2020-01-29] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+* [2020-01-23] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [2020-01-23] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [2020-01-23] 優化 appd。
+
+dragonpilot 0.7.1
+========================
+* [2020-01-19] 調整 appd 和 ALC 邏輯。 
+* [2020-01-14] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+* [2020-01-18] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [2020-01-18] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+dragonpilot 0.7.0
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [2019-12-29] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [2019-12-29] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+* [2019-12-18] 修正自動換道邏輯。
+* [2019-12-18] 更新 offroad 翻譯。
+* [2019-12-18] 錯誤修正。
+* [2019-12-18] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+* [2019-12-17] 加入輔助換道開關。（24mph / 40kph 以上)
+* [2019-12-17] 加入自動換道開關。（40mph / 65kph 以上)
+* [2019-12-17] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [2019-12-17] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [2019-12-17] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+* [2019-12-10] 加入位智車機模式。 (Waze Mode)
+* [2019-11-21] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [2019-11-21] 調整前車靜止移動偵測參數。
+* [2019-11-21] 前車靜止移動偵測可在未啟用 dp 時運作。
+* [2019-11-18] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+* [2019-11-18] 修正 frame 翻譯。
+
+dragonpilot 0.6.6
+========================
+* [2019-11-15] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+* [2019-11-15] 修正充電控制。 (感謝 KT 反應)
+* [2019-11-15] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [2019-11-12] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [2019-11-12] 自動偵測並鎖定硬體 (EON / UNO)。
+* [2019-11-12] 加入鎖定硬體 (EON / UNO) 的程式碼。
+* [2019-11-11] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [2019-11-11] 更新 MiXplorer 至 v6.40.3
+* [2019-11-11] 前車靜止移動偵測加入偵測警示。
+* [2019-11-07] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [2019-11-07] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+* [2019-11-06] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+
+dragonpilot 0.6.5
+========================
+* [2019-11-05] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+* [2019-11-01] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [2019-11-01] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+* [2019-11-01] 移除 Miui 字型，縮小 dp 使用空間。
+* [2019-11-01] 更新 offroad 為多語言版
+* [2019-10-29] 加入 SnG 補丁。（感謝 楊雅智)
+* [2019-10-28] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+* [2019-10-22] 移除強迫網路連線提示。(感謝 Shell)
+* [2019-10-18] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [2019-10-18] 移除強迫網路連線提示。(感謝 Shell)
+* [2019-10-18] 修正 allow_gas 功能。
+* [2019-10-18] 加入彎道減速功能開關。
+* [2019-10-18] 強迫使用 dp 版 Panda 韌體。
+* [2019-10-17] 加入「車型」顯示於 dp 設定畫面。
+* [2019-10-17] 修正充電控制讀取預設值的錯誤。
+* [2019-10-17] 修正無法顯示更新記錄的錯誤。
+* [2019-10-17] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [2019-10-17] 下載更新記錄時使用 "no-cache" 標頭。
+* [2019-10-17] 更新高德地圖至 v4.3.0
+* [2019-10-14] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [2019-10-14] 清除不再使用的 dp params。
+* [2019-10-14] 加入數字電量指示。(感謝 鄧育林 建議)
+* [2019-10-14] 加入刷新 Panda 韌體按鈕。
+* [2019-10-11] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+* [2019-10-11] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+dragonpilot 0.6.4
+========================
+* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
+* [2019-10-08] 加回駕駛監控開關。
+* [2019-10-07] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+* [2019-10-05] 移除 curvature learner: 轉角明顯比原廠小。
+* [2019-09-30] 更新 curvature learner 版本至 v4。
+* [2019-09-30] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+* [2019-09-27] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [2019-09-27] 加入可開關駕駛監控的程式碼。
+* [2019-09-27] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [2019-09-27] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+* [2019-09-26] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+* [2019-09-24] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [2019-09-24] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+* [2019-09-23] 優化讀取 params 的次數。
+* [2019-09-23] 加入可開關的車道偏移警示。
+* [2019-09-23] 修正充電控制邏輯。
+* [2019-09-23] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+* [2019-09-20] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+* [2019-09-16] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [2019-09-16] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+* [2019-09-13] 行車介面加入可開關的「速度顯示」設定。
+* [2019-09-09] 加入 GreyPanda 模式。
+* [2019-08-28] 加入可調警示音量。
+* [2019-08-27] 自動關機改為可調時長。
+
+dragonpilot 0.6.3
+========================
+* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
@@ -0,0 +1,130 @@
+2020-06-22 (0.7.6.1)
+========================
+* 更新至 openpilot 0.7.6.1。 (特別感謝 @rockindy 協助更新)
+* Updated to openpilot 0.7.6.1. (Special thanks to @rockindy for initial merge)
+* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
+* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
+* 完全關閉 steer ratio learner。
+* Completely disabled steer ratio learner.
+* 移除「加速模式」。
+* Removed Accel Profile.
+* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
+* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
+* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
+* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
+
+2020-06-18 (0.7.5)
+========================
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+2020-05-30 (0.7.5)
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+
+2020-05-28 (0.7.5)
+========================
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+
+2020-05-26 (0.7.5)
+========================
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+
+2020-05-25 (0.7.5)
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+
+2020-05-21 (0.7.5)
+========================
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue. 
+
+2020-05-20 (0.7.5)
+========================
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+2020-05-19 (0.7.5)
+========================
+* 加入 DragonEnableAutoUpdate 預設值。
+* Added DragonEnableAutoUpdate default value.
+
+2020-05-18 (0.7.5)
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model"
+
+2020-05-16 (0.7.5)
+========================
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+
+2020-05-15 (0.7.5)
+========================
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+2020-05-10
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camry Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
@@ -2,7 +2,7 @@

 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.

-Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).

 ## Getting Started

@@ -18,7 +18,7 @@ You can test your changes on your machine by running `run_docker_tests.sh`. This

 ### Automated Testing

-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.
+All PRs and commits 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

@@ -48,3 +48,4 @@ Modules that are in seperate repositories include:
 * laika
 * opendbc
 * panda
+* rednose
@@ -72,7 +72,7 @@ Supported Cars
 | Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
 | Honda     | Civic Sedan/Coupe 2019-20     | Honda Sensing     | Stock            | 0mph               | 2mph<sup>2</sup>  |
 | Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | CR-V 2017-20                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
 | Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
@@ -91,6 +91,7 @@ Supported Cars
 | Lexus     | RX 2016-17                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Avalon 2017-18                | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
@@ -114,7 +115,7 @@ Supported Cars
 | Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |

 <sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
 <sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
@@ -135,34 +136,32 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Genesis   | G80 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
-| Genesis   | G90 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
-| GMC       | Acadia Denali 2018<sup>3</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
+| GMC       | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 37mph        |
-| Hyundai   | Ioniq 2017<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
-| Hyundai   | Ioniq 2019 EV<sup>2</sup>     | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Hyundai   | Kona 2017-19<sup>2</sup>      | SCC + LKAS        | Stock            | 22mph              | 0mph         |
 | Hyundai   | Kona 2019 EV<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Palisade 2020<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Santa Fe 2019<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Hyundai   | Sonata 2020<sup>2</sup>       | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019                 | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2019-20                | All               | Stock            | 0mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Forte 2018<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Forte 2018-19<sup>2</sup>     | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Optima 2017<sup>2</sup>       | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019<sup>2</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Nissan    | Leaf 2019                     | Propilot          | Stock            | 0mph               | 0mph         |
-| Nissan    | X-Trail 2018                  | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2018-19<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | Rogue 2019<sup>2</sup>        | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | X-Trail 2017<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |

 <sup>1</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>2</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>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>2</sup>May require a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />

 Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)

@@ -328,6 +327,7 @@ NO WARRANTY EXPRESSED OR IMPLIED.**

 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>

+[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg)](https://github.com/commaai/openpilot/actions)
 [![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
 [![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
 [![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
@@ -1,3 +1,15 @@
+Version 0.7.6.1 (2020-06-16)
+========================
+* Hotfix: update kernel on some comma twos (orders #8570-#8680)
+
+Version 0.7.6 (2020-06-05)
+========================
+* White panda is deprecated, upgrade to comma two or black panda
+* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
+* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
+* Huge CPU savings in modeld by using thneed!
+* Lots of code cleanup and refactors
+
 Version 0.7.5 (2020-05-13)
 ========================
 * Right-Hand Drive support for both driving and driver monitoring!
@@ -5,7 +17,6 @@ Version 0.7.5 (2020-05-13)
 * New driver monitoring model: overall improvement on comma two
 * Driver camera preview in settings to improve mounting position
 * Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
-* 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
 * Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)

 Version 0.7.4 (2020-03-20)
@@ -43,10 +43,9 @@ if arch == "aarch64" or arch == "larch64":
  ]

  if arch == "larch64":
-    cpppath += ["#phonelibs/capnp-cpp/include"]
    libpath += ["#phonelibs/snpe/larch64"]
    libpath += ["#phonelibs/libyuv/larch64/lib"]
-    libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
+    libpath += ["/usr/lib/aarch64-linux-gnu"]
    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    rpath = ["/usr/local/lib"]
@@ -62,14 +61,11 @@ else:
    "PATH": "#external/bin:" + os.environ['PATH'],
  }
  cpppath = [
-    "#phonelibs/capnp-cpp/include",
-    "#phonelibs/zmq/x64/include",
    "#external/tensorflow/include",
  ]

  if arch == "Darwin":
    libpath = [
-      "#phonelibs/capnp-cpp/mac/lib",
      "#phonelibs/libyuv/mac/lib",
      "#cereal",
      "#selfdrive/common",
@@ -78,11 +74,8 @@ else:
    ]
  else:
    libpath = [
-      "#phonelibs/capnp-cpp/x64/lib",
      "#phonelibs/snpe/x86_64-linux-clang",
-      "#phonelibs/zmq/x64/lib",
      "#phonelibs/libyuv/x64/lib",
-      "#external/zmq/lib",
      "#external/tensorflow/lib",
      "#cereal",
      "#selfdrive/common",
@@ -90,8 +83,7 @@ else:
      "/usr/local/lib",
    ]

-  rpath = ["phonelibs/capnp-cpp/x64/lib",
-           "phonelibs/zmq/x64/lib",
+  rpath = [
           "external/tensorflow/lib",
           "cereal",
           "selfdrive/common"]
@@ -114,11 +106,9 @@ env = Environment(
    "-g",
    "-fPIC",
    "-O2",
-    "-Werror=implicit-function-declaration",
-    "-Werror=incompatible-pointer-types",
-    "-Werror=int-conversion",
-    "-Werror=return-type",
-    "-Werror=format-extra-args",
+    "-Werror",
+    "-Wno-deprecated-register",
+    "-Wno-inconsistent-missing-override",
  ] + cflags + ccflags_asan,

  CPPPATH=cpppath + [
@@ -128,7 +118,6 @@ env = Environment(
    "#phonelibs/libyuv/include",
    "#phonelibs/openmax/include",
    "#phonelibs/json11",
-    "#phonelibs/eigen",
    "#phonelibs/curl/include",
    #"#phonelibs/opencv/include", # use opencv4 instead
    "#phonelibs/libgralloc/include",
@@ -189,10 +178,7 @@ def abspath(x):
    return x[0].path.rsplit("/", 1)[1][:-3]

 # still needed for apks
-if arch == 'larch64':
-  zmq = 'zmq'
-else:
-  zmq = FindFile("libzmq.a", libpath)
+zmq = 'zmq'
 Export('env', 'arch', 'zmq', 'SHARED', 'webcam')

 # cereal and messaging are shared with the system
@@ -238,11 +224,12 @@ SConscript(['selfdrive/proclogd/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])

+SConscript(['selfdrive/locationd/SConscript'])
+SConscript(['selfdrive/locationd/models/SConscript'])
+
 if arch == "aarch64":
  SConscript(['selfdrive/logcatd/SConscript'])
  SConscript(['selfdrive/sensord/SConscript'])
  SConscript(['selfdrive/clocksd/SConscript'])
-
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/locationd/kalman/SConscript'])
-SConscript(['tools/lib/index_log/SConscript'])
+else:
+  SConscript(['tools/lib/index_log/SConscript'])
@@ -11,6 +11,9 @@ jobs:
    - uses: actions/checkout@v2
    - name: Build docker image
      run: docker build -t cereal .
+    - name: Static analysis
+      run: |
+        docker run cereal bash -c "git init && git add -A && pre-commit run --all"
    - name: Unit Tests
      run: |
        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
@@ -20,4 +23,3 @@ jobs:
    - name: Test MSGQ
      run: |
        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
-
@@ -11,4 +11,4 @@ libmessaging_shared.*
 services.h
 .sconsign.dblite
 libcereal_shared.*
-
+.mypy_cache/
@@ -0,0 +1,27 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: master
+    hooks:
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: master
+    hooks:
+    -   id: mypy
+-   repo: https://github.com/PyCQA/flake8
+    rev: master
+    hooks:
+    -   id: flake8
+        args:
+        - --select=F
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        args:
+        - --disable=R,C,W
@@ -1,19 +1,18 @@
-from ubuntu:16.04
+FROM ubuntu:16.04

-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl

 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 RUN pyenv install 3.7.3
 RUN pyenv global 3.7.3
 RUN pyenv rehash
-RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4
+RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4 pre-commit==2.4.0 pylint==2.5.2

 WORKDIR /project/cereal
-COPY install_capnp.sh .
-RUN ./install_capnp.sh

 ENV PYTHONPATH=/project

 COPY . .
+RUN rm -rf .git
 RUN scons -c && scons -j$(nproc)
@@ -20,6 +20,7 @@ if shutil.which('capnpc-java'):
 cereal_objects = env.SharedObject([
    'gen/cpp/car.capnp.c++',
    'gen/cpp/log.capnp.c++',
+    'messaging/socketmaster.cc',
  ])

 env.Library('cereal', cereal_objects)
@@ -43,8 +44,10 @@ Depends('messaging/impl_zmq.cc', services_h)

 # note, this rebuilds the deps shared, zmq is statically linked to make APK happy
 # TODO: get APK to load system zmq to remove the static link
-shared_lib_shared_lib = [zmq, 'm', 'stdc++'] + ["gnustl_shared"] if arch == "aarch64" else [zmq]
-env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
+if arch == "aarch64":
+  zmq_static = FindFile("libzmq.a", "/usr/lib")
+  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared"]
+  env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)

 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)
@@ -1,3 +1,4 @@
+# pylint: skip-file
 import os
 import capnp

@@ -13,12 +13,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  name @0 :EventName;
  enable @1 :Bool;
  noEntry @2 :Bool;
-  warning @3 :Bool;
+  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
  userDisable @4 :Bool;
  softDisable @5 :Bool;
  immediateDisable @6 :Bool;
  preEnable @7 :Bool;
-  permanent @8 :Bool;
+  permanent @8 :Bool; # alerts presented regardless of openpilot state

  enum EventName @0xbaa8c5d505f727de {
    # TODO: copy from error list
@@ -38,7 +38,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    pedalPressed @13;
    cruiseDisabled @14;
    radarCanError @15;
-    dataNeeded @16;
+    dataNeededDEPRECATED @16;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
@@ -55,23 +55,23 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    manualRestart @30;
    lowSpeedLockout @31;
    plannerError @32;
-    ipasOverride @33;
+    ipasOverrideDEPRECATED @33;
    debugAlert @34;
    steerTempUnavailableMute @35;
    resumeRequired @36;
    preDriverDistracted @37;
    promptDriverDistracted @38;
    driverDistracted @39;
-    geofence @40;
-    driverMonitorOn @41;
-    driverMonitorOff @42;
+    geofenceDEPRECATED @40;
+    driverMonitorOnDEPRECATED @41;
+    driverMonitorOffDEPRECATED @42;
    preDriverUnresponsive @43;
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
    belowSteerSpeed @46;
-    calibrationProgress @47;
+    calibrationProgressDEPRECATED @47;
    lowBattery @48;
-    invalidGiraffeHonda @49;
+    invalidGiraffeHondaDEPRECATED @49;
    vehicleModelInvalid @50;
    controlsFailed @51;
    sensorDataInvalid @52;
@@ -93,10 +93,32 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    driverMonitorLowAcc @68;
    invalidLkasSetting @69;
    speedTooHigh @70;
-    laneChangeBlocked @71;
+    laneChangeBlockedDEPRECATED @71;
    relayMalfunction @72;
    gasPressed @73;
    stockFcw @74;
+    startup @75;
+    startupNoCar @76;
+    startupNoControl @77;
+    startupMaster @78;
+    fcw @79;
+    steerSaturated @80;
+    whitePandaUnsupported @81;
+    startupWhitePanda @82;
+    canErrorPersistent @83;
+    belowEngageSpeed @84;
+    noGps @85;
+    focusRecoverActive @86;
+    wrongCruiseMode @87;
+    neosUpdateRequired @88;
+
+    #dp
+    preLaneChangeLeftALC @89;
+    preLaneChangeRightALC @90;
+    laneChangeALC @91;
+    manualSteeringRequired @92;
+    manualSteeringRequiredBlinkersOn @93;
+    leadCarMoving @94;
  }
 }

@@ -164,6 +186,9 @@ struct CarState {
  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
  rightBlindspot @34 :Bool; # Is there something blocking the right lane change

+  # dp
+  lkMode @37 :Bool;
+
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
@@ -10,31 +10,3 @@ CXXFLAGS="-fPIC" ./configure

 make -j$(nproc)
 make install
-
-# manually build binaries statically
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o  ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o  ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread
-
-cp .libs/capnp /usr/local/bin/
-cp .libs/capnpc-c++ /usr/local/bin/
-cp .libs/capnpc-capnp /usr/local/bin/
-cp .libs/*.a /usr/local/lib
-
-cd /tmp
-echo "Installing c-capnp"
-git clone https://github.com/commaai/c-capnproto.git
-cd c-capnproto
-git submodule update --init --recursive
-autoreconf -f -i -s
-CXXFLAGS="-fPIC" ./configure
-make -j$(nproc)
-make install
-
-# manually build binaries statically
-gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o  ./.libs/libcapnp_c.a
-
-cp .libs/capnpc-c /usr/local/bin/
-cp .libs/*.a /usr/local/lib
@@ -799,6 +799,9 @@ struct PathPlan {
  laneChangeState @18 :LaneChangeState;
  laneChangeDirection @19 :LaneChangeDirection;

+  # dp
+  dpALCAllowed @20 :Bool;
+
  enum Desire {
    none @0;
    turnLeft @1;
@@ -855,6 +858,9 @@ struct LiveLocationKalman {
  gpsTimeOfWeek @14 :Float64;
  status @15 :Status;
  unixTimestampMillis @16 :Int64;
+  inputsOK @17 :Bool = true;
+  posenetOK @18 :Bool = true;
+  gpsOK @19 :Bool = true;

  enum Status {
    uninitialized @0;
@@ -2047,5 +2053,81 @@ struct Event {
    dMonitoringState @71: DMonitoringState;
    liveLocationKalman @72 :LiveLocationKalman;
    sentinel @73 :Sentinel;
+    dragonConf @74 :DragonConf;
  }
 }
+
+# dp
+struct DragonConf {
+  dpAtl @0 :Bool;
+  dpAppWaze @1 :Bool;
+  dpAppWazeManual @2 :Int8;
+  dpDashcam @3 :Bool;
+  dpDashcamHoursStored @4 :UInt8;
+  dpAutoShutdown @5 :Bool;
+  dpAutoShutdownIn @6 :UInt16;
+  dpLogger @7 :Bool;
+  dpAthenad @8 :Bool;
+  dpUploader @9 :Bool;
+  dpUploadOnMobile @10 :Bool;
+  dpUploadOnHotspot @11 :Bool;
+  dpUpdated @12 :Bool;
+  dpHotspotOnBoot @13 :Bool;
+  dpLatCtrl @14 :Bool;
+  dpSteeringLimitAlert @15 :Bool;
+  dpSteeringOnSignal @16 :Bool;
+  dpSignalOffDelay @17 :UInt8;
+  dpAssistedLcMinMph @18 :UInt8;
+  dpAutoLc @19 :Bool;
+  dpAutoLcCont @20 :Bool;
+  dpAutoLcMinMph @21 :UInt8;
+  dpAutoLcDelay @22 :UInt8;
+  dpAllowGas @23 :Bool;
+  dpSlowOnCurve @24 :Bool;
+  dpMaxCtrlSpeed @25 :Float32;
+  dpLeadCarAlert @26 :Bool;
+  dpDynamicFollow @27 :UInt8;
+  dpDriverMonitor @28 :Bool;
+  dpSteeringMonitor @29 :Bool;
+  dpGearCheck @30 :Bool;
+  dpTempMonitor @31 :Bool;
+  dpDrivingUi @32 :Bool;
+  dpUiScreenOffReversing @33 :Bool;
+  dpUiScreenOffDriving @34 :Bool;
+  dpUiSpeed @35 :Bool;
+  dpUiEvent @36 :Bool;
+  dpUiMaxSpeed @37 :Bool;
+  dpUiFace @38 :Bool;
+  dpUiLane @39 :Bool;
+  dpUiPath @40 :Bool;
+  dpUiLead @41 :Bool;
+  dpUiDev @42 :Bool;
+  dpUiBlinker @43 :Bool;
+  dpUiBrightness @44 :UInt8;
+  dpUiVolumeBoost @45 :Int8;
+  dpAppAutoUpdate @46 :Bool;
+  dpAppExtGps @47 :Bool;
+  dpAppTomtom @48 :Bool;
+  dpAppTomtomAuto @49 :Bool;
+  dpAppTomtomManual @50 :Int8;
+  dpAppAutonavi @51 :Bool;
+  dpAppAutonaviAuto @52 :Bool;
+  dpAppAutonaviManual @53 :Int8;
+  dpAppAegis @54 :Bool;
+  dpAppAegisAuto @55 :Bool;
+  dpAppAegisManual @56 :Int8;
+  dpAppMixplorer @57 :Bool;
+  dpAppMixplorerManual @58 :Int8;
+  dpToyotaSngResponse @59 :Float32;
+  dpToyotaLdw @60 :Bool;
+  dpToyotaSng @61 :Bool;
+  dpIpAddr @62 :Text;
+  dpCameraOffset @63 :Int8;
+  dpLocale @64 :Text;
+  dpChargingCtrl @65 :Bool;
+  dpChargingAt @66 :UInt8;
+  dpDischargingAt @67 :UInt8;
+  dpIsUpdating @68 :Bool;
+  dpThermalStarted @69 :Bool;
+  dpThermalOverheat @70 :Bool;
+}
@@ -155,7 +155,7 @@ class SubMaster():

      try:
        data = new_message(s)
-      except capnp.lib.capnp.KjException:
+      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
        # lists
        data = new_message(s, 0)

@@ -143,7 +143,11 @@ int MSGQPubSocket::connect(Context *context, std::string endpoint){
  assert(context);

  q = new msgq_queue_t;
-  msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
+  if (r != 0){
+    return r;
+  }
+
  msgq_init_publisher(q);

  return 0;
@@ -2,9 +2,15 @@
 #include "impl_zmq.hpp"
 #include "impl_msgq.hpp"

+#ifdef __APPLE__
+const bool MUST_USE_ZMQ = true;
+#else
+const bool MUST_USE_ZMQ = false;
+#endif
+
 Context * Context::create(){
  Context * c;
-  if (std::getenv("ZMQ")){
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
    c = new ZMQContext();
  } else {
    c = new MSGQContext();
@@ -14,7 +20,7 @@ Context * Context::create(){

 SubSocket * SubSocket::create(){
  SubSocket * s;
-  if (std::getenv("ZMQ")){
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
    s = new ZMQSubSocket();
  } else {
    s = new MSGQSubSocket();
@@ -60,7 +66,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri

 PubSocket * PubSocket::create(){
  PubSocket * s;
-  if (std::getenv("ZMQ")){
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
    s = new ZMQPubSocket();
  } else {
    s = new MSGQPubSocket();
@@ -82,7 +88,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){

 Poller * Poller::create(){
  Poller * p;
-  if (std::getenv("ZMQ")){
+  if (std::getenv("ZMQ") || MUST_USE_ZMQ){
    p = new ZMQPoller();
  } else {
    p = new MSGQPoller();
@@ -1,7 +1,10 @@
 #pragma once
 #include <cstddef>
-#include <vector>
+#include <map>
 #include <string>
+#include <vector>
+#include <capnp/serialize.h>
+#include "../gen/cpp/log.capnp.h"

 #define MSG_MULTIPLE_PUBLISHERS 100

@@ -54,3 +57,36 @@ public:
  static Poller * create(std::vector<SubSocket*> sockets);
  virtual ~Poller(){};
 };
+
+class SubMaster {
+ public:
+  SubMaster(const std::initializer_list<const char *> &service_list,
+            const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
+  int update(int timeout = 1000);
+  inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
+  inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
+  inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
+  bool updated(const char *name) const;
+  void drain();
+  cereal::Event::Reader &operator[](const char *name);
+  ~SubMaster();
+
+ private:
+  bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
+  Poller *poller_ = nullptr;
+  uint64_t frame_ = 0;
+  struct SubMessage;
+  std::map<SubSocket *, SubMessage *> messages_;
+  std::map<std::string, SubMessage *> services_;
+};
+
+class PubMaster {
+ public:
+  PubMaster(const std::initializer_list<const char *> &service_list);
+  inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
+  int send(const char *name, capnp::MessageBuilder &msg);
+  ~PubMaster();
+
+ private:
+  std::map<std::string, PubSocket *> sockets_;
+};
@@ -30,7 +30,7 @@ class BuildExtWithoutPlatformSuffix(build_ext):


 sourcefiles = ['messaging_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 libraries = ['zmq']
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg

@@ -90,8 +90,10 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
  auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
  delete[] full_path;

-  if (fd < 0)
+  if (fd < 0) {
+    std::cout << "Warning, could not open: " << full_path << std::endl;
    return -1;
+  }

  int rc = ftruncate(fd, size + sizeof(msgq_header_t));
  if (rc < 0)
@@ -0,0 +1,162 @@
+#include <assert.h>
+#include <time.h>
+#include "messaging.hpp"
+#include "services.h"
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+static inline uint64_t nanos_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000000000ULL + t.tv_nsec;
+}
+static const service *get_service(const char *name) {
+  for (const auto &it : services) {
+    if (strcmp(it.name, name) == 0) return &it;
+  }
+  return nullptr;
+}
+static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
+  for (auto &v : list) {
+    if (strcmp(value, v) == 0) return true;
+  }
+  return false;
+}
+
+class MessageContext {
+ public:
+  MessageContext() { ctx_ = Context::create(); }
+  ~MessageContext() { delete ctx_; }
+  Context *ctx_;
+};
+MessageContext ctx;
+
+struct SubMaster::SubMessage {
+  std::string name;
+  SubSocket *socket = nullptr;
+  int freq = 0;
+  bool updated = false, alive = false, valid = false, ignore_alive;
+  uint64_t rcv_time = 0, rcv_frame = 0;
+  void *allocated_msg_reader = nullptr;
+  capnp::FlatArrayMessageReader *msg_reader = nullptr;
+  kj::Array<capnp::word> buf;
+  cereal::Event::Reader event;
+};
+
+SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
+                     const std::initializer_list<const char *> &ignore_alive) {
+  poller_ = Poller::create();
+  for (auto name : service_list) {
+    const service *serv = get_service(name);
+    assert(serv != nullptr);
+    SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
+    assert(socket != 0);
+    poller_->registerSocket(socket);
+    SubMessage *m = new SubMessage{
+        .socket = socket,
+        .freq = serv->frequency,
+        .ignore_alive = inList(ignore_alive, name),
+        .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
+        .buf = kj::heapArray<capnp::word>(1024)};
+    messages_[socket] = m;
+    services_[name] = m;
+  }
+}
+
+int SubMaster::update(int timeout) {
+  if (++frame_ == UINT64_MAX) frame_ = 1;
+  for (auto &kv : messages_) kv.second->updated = false;
+
+  int updated = 0;
+  auto sockets = poller_->poll(timeout);
+  uint64_t current_time = nanos_since_boot();
+  for (auto s : sockets) {
+    Message *msg = s->receive(true);
+    if (msg == nullptr) continue;
+
+    SubMessage *m = messages_.at(s);
+    const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
+    if (m->buf.size() < size) {
+      m->buf = kj::heapArray<capnp::word>(size);
+    }
+    memcpy(m->buf.begin(), msg->getData(), msg->getSize());
+    delete msg;
+
+    if (m->msg_reader) {
+      m->msg_reader->~FlatArrayMessageReader();
+    }
+    m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
+    m->event = m->msg_reader->getRoot<cereal::Event>();
+    m->updated = true;
+    m->rcv_time = current_time;
+    m->rcv_frame = frame_;
+    m->valid = m->event.getValid();
+
+    ++updated;
+  }
+
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
+  }
+  return updated;
+}
+
+bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
+  int found = 0;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
+      found += (!valid || m->valid) && (!alive || (m->alive && !m->ignore_alive));
+    }
+  }
+  return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
+}
+
+void SubMaster::drain() {
+  while (true) {
+    auto polls = poller_->poll(0);
+    if (polls.size() == 0)
+      break;
+
+    for (auto sock : polls) {
+      Message *msg = sock->receive(true);
+      delete msg;
+    }
+  }
+}
+
+bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
+cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
+
+SubMaster::~SubMaster() {
+  delete poller_;
+  for (auto &kv : messages_) {
+    SubMessage *m = kv.second;
+    if (m->msg_reader) {
+      m->msg_reader->~FlatArrayMessageReader();
+    }
+    free(m->allocated_msg_reader);
+    delete m->socket;
+    delete m;
+  }
+}
+
+PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
+  for (auto name : service_list) {
+    assert(get_service(name) != nullptr);
+    PubSocket *socket = PubSocket::create(ctx.ctx_, name);
+    assert(socket);
+    sockets_[name] = socket;
+  }
+}
+
+int PubMaster::send(const char *name, capnp::MessageBuilder &msg) {
+  auto words = capnp::messageToFlatArray(msg);
+  auto bytes = words.asBytes();
+  return send(name, bytes.begin(), bytes.size());
+}
+
+PubMaster::~PubMaster() {
+  for (auto s : sockets_) delete s.second;
+}
@@ -78,6 +78,8 @@ frontFrame: [8072, true, 10.]
 dMonitoringState: [8073, true, 5., 1]
 offroadLayout: [8074, false, 0.]

+dragonConf: [8075, false, 2.]
+
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
 testJoystick: [8056, false, 0.]
@@ -1,3 +1,4 @@
+comment: false
 coverage:
  status:
    project:
@@ -22,10 +22,10 @@ def get_imei(slot):
  if slot not in ("0", "1"):
    raise ValueError("SIM slot must be 0 or 1")

-  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" ,"i32", str(slot)]))
+  ret = parse_service_call_string(service_call(["iphonesubinfo", "3" , "i32", str(slot)]))
  if not ret:
    # allow non android to be identified differently
-    ret = "%015d" % random.randint(0, 1<<32)
+    ret = "%015d" % random.randint(0, 1 << 32)
  return ret

 def get_serial():
@@ -132,6 +132,7 @@ def get_network_type():

 def get_network_strength(network_type):
  network_strength = NetworkStrength.unknown
+
  # from SignalStrength.java
  def get_lte_level(rsrp, rssnr):
    INT_MAX = 2147483647
@@ -39,4 +39,3 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  headers['User-Agent'] = "openpilot-" + version

  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
-
@@ -13,7 +13,7 @@ def get_installed_apks():
  ret = {}
  for x in dat:
    if x.startswith("package:"):
-      v,k = x.split("package:")[1].split("=")
+      v, k = x.split("package:")[1].split("=")
      ret[k] = v
  return ret

@@ -8,4 +8,3 @@ if ANDROID:
 else:
  PERSIST = os.path.join(BASEDIR, "persist")
  PARAMS = os.path.join(BASEDIR, "persist", "params")
-
@@ -0,0 +1,28 @@
+#!/usr/bin/env python3.7
+import subprocess
+from cereal import car
+from common.params import Params
+params = Params()
+
+def is_online():
+  try:
+    return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+  except ProcessLookupError:
+    return False
+
+def common_controller_ctrl(enabled, dragon_lat_ctrl, dragon_enable_steering_on_signal, blinker_on, steer_req):
+  if enabled:
+    if (dragon_enable_steering_on_signal and blinker_on) or not dragon_lat_ctrl:
+      steer_req = 0 if isinstance(steer_req, int) else False
+  return steer_req
+
+def common_interface_atl(ret, atl):
+  # dp
+  enable_acc = ret.cruiseState.enabled
+  if atl and ret.cruiseState.available:
+    enable_acc = True
+    if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
+      enable_acc = False
+    if ret.seatbeltUnlatched or ret.doorOpen:
+      enable_acc = False
+  return enable_acc
@@ -0,0 +1,223 @@
+#!/usr/bin/env python3.7
+import os
+import json
+import time
+from math import floor
+
+confs = [
+  {'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
+  # waze
+  {'name': 'dp_app_waze', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_waze_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_waze', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # dashcam related
+  {'name': 'dp_dashcam', 'default': 0, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_dashcam_hours_stored', 'default': 24, 'type': 'UInt8', 'min': 1, 'max': 255, 'depends': [{'name': 'dp_dashcam', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # auto shutdown related
+  {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 1, 'max': 65535, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # service
+  {'name': 'dp_logger', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_athenad', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_uploader', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_upload_on_mobile', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_upload_on_hotspot', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # lat ctrl
+  {'name': 'dp_lat_ctrl', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_steering_limit_alert', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_steering_on_signal', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_signal_off_delay', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 10, 'depends': [{'name': 'dp_steering_on_signal', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # assist/auto lane change
+  {'name': 'dp_assisted_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_steering_on_signal', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_steering_on_signal', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_auto_lc_delay', 'default': 3, 'type': 'UInt8', 'min': 0, 'max': 10, 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # long ctrl
+  {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_slow_on_curve', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_max_ctrl_speed', 'default': 92, 'type': 'Float32', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lead_car_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_dynamic_follow', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  # safety
+  {'name': 'dp_driver_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_steering_monitor', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # UIs
+  {'name': 'dp_driving_ui', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_screen_off_reversing', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_screen_off_driving', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_driver_monitor', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_path', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_volume_boost', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  # Apps
+  {'name': 'dp_app_auto_update', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_ext_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_tomtom', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_tomtom_auto', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_tomtom_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_autonavi', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_autonavi_auto', 'default':  False, 'type': 'Bool', 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_autonavi_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_aegis', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_aegis_auto', 'default':  False, 'type': 'Bool', 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_aegis_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_mixplorer', 'default':  False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_app_mixplorer_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_mixplorer', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  # toyota
+  {'name': 'dp_toyota_sng_response', 'default': 0., 'type': 'Float32', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # custom car
+  {'name': 'dp_car_selected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_car_detected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
+  #misc
+  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_full_speed_fan', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -255, 'max': 255, 'conf_type': ['param', 'struct']},
+
+  {'name': 'dp_locale', 'default': '', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
+  {'name': 'dp_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_charging_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_charging_at', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_discharging_at', 'default': 70, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_is_updating', 'default': False, 'type': 'Bool', 'set_param_only': True, 'conf_type': ['param', 'struct']},
+
+  # including thermal data
+  {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+  {'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
+]
+
+def get_definition(name):
+  for conf in confs:
+    if conf['name'] == name:
+      return conf
+  return None
+
+def to_param_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    type = conf['type'].lower()
+    try:
+      if 'bool' in type:
+        val = '1' if val else '0'
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return str(val)
+    except (ValueError, TypeError):
+      return ''
+  return ''
+
+def to_struct_val(name, val):
+  conf = get_definition(name)
+  if conf is not None:
+    try:
+      type = conf['type'].lower()
+      if 'bool' in type:
+        val = True if val == '1' else False
+      elif 'int' in type:
+        val = int(val)
+      elif 'float' in type:
+        val = float(val)
+      return val
+    except (ValueError, TypeError):
+      return None
+  return None
+
+'''
+function to convert param name into struct name.
+'''
+def get_struct_name(snake_str):
+  components = snake_str.split('_')
+  # We capitalize the first letter of each component except the first one
+  # with the 'title' method and join them together.
+  return components[0] + ''.join(x.title() for x in components[1:])
+
+'''
+function to generate struct for log.capnp
+'''
+def gen_log_struct():
+  count = 0
+  str = "# dp\n"
+  str += "struct DragonConf {\n"
+  for conf in confs:
+    name = get_struct_name(conf['name'])
+    if 'struct' in conf['conf_type']:
+      str += f"  {name} @{count} :{conf['type']};\n"
+      count += 1
+  str += "}"
+  print(str)
+
+'''
+function to append new keys to params.py
+'''
+def init_params_keys(keys, type):
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      keys[conf['name']] = type
+  return keys
+
+'''
+function to generate support car list
+'''
+def get_support_car_list():
+  attrs = ['FINGERPRINTS', 'FW_VERSIONS']
+  cars = dict()
+  for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
+    try:
+      car_name = car_folder.split('/')[-1]
+      if car_name != "mock":
+        names = []
+        for attr in attrs:
+          values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
+          if hasattr(values, attr):
+            attr_values = getattr(values, attr)
+          else:
+            continue
+
+          if isinstance(attr_values, dict):
+            for f, v in attr_values.items():
+              if f not in names:
+                names.append(f)
+          names.sort()
+        cars[car_name] = names
+    except (ImportError, IOError, ValueError):
+      pass
+  return json.dumps(cars)
+
+'''
+function to init param value.
+should add this into manager.py
+'''
+def init_params_vals(params, put_nonblocking):
+  for conf in confs:
+    if 'param' in conf['conf_type']:
+      if conf['name'] == 'dp_car_list':
+        put_nonblocking(conf['name'], get_support_car_list())
+      elif params.get(conf['name']) is None:
+        put_nonblocking(conf['name'], to_param_val(conf['name'], conf['default']))
+
+'''
+function to conditionally update params
+should add this after init_params_vals 
+'''
+def update_params_vals(params):
+  pass
+
+if __name__ == "__main__":
+  gen_log_struct()
@@ -44,7 +44,8 @@ class AutoMoveTempdir():
  def close(self):
    os.rename(self._path, self._target_path)

-  def __enter__(self): return self
+  def __enter__(self):
+    return self

  def __exit__(self, type, value, traceback):
    if type is None:
@@ -63,7 +64,8 @@ class NamedTemporaryDir():
  def close(self):
    shutil.rmtree(self._path)

-  def __enter__(self): return self
+  def __enter__(self):
+    return self

  def __exit__(self, type, value, traceback):
    self.close()
@@ -0,0 +1,12 @@
+import gettext
+from common import android
+
+is_android = android.ANDROID
+locale_dir = '/data/openpilot/selfdrive/assets/locales'
+supported_language = ['en-US', 'zh-TW', 'zh-CN']
+locale = android.getprop("persist.sys.locale") if is_android else 'en-US'
+
+def events():
+  i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[locale])
+  i18n.install()
+  return i18n.gettext
@@ -68,8 +68,11 @@ class SwagErrorFilter(logging.Filter):
  def filter(self, record):
    return record.levelno < logging.ERROR

-_tmpfunc = lambda: 0
-_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+def _tmpfunc():
+  return 0
+
+def _srcfile():
+  return os.path.normcase(_tmpfunc.__code__.co_filename)

 class SwagLogger(logging.Logger):
  def __init__(self):
@@ -6,13 +6,13 @@ def print_cpu_usage(first_proc, last_proc):
  r = 0
  procs = [
      ("selfdrive.controls.controlsd", 59.46),
-      ("./_modeld", 48.94),
+      ("./_modeld", 6.75),
      ("./loggerd", 28.49),
      ("selfdrive.controls.plannerd", 19.77),
      ("selfdrive.controls.radard", 9.54),
      ("./_ui", 9.54),
      ("./camerad", 7.07),
-      ("selfdrive.locationd.locationd", 7.13),
+      ("selfdrive.locationd.locationd", 27.46),
      ("./_sensord", 6.17),
      ("selfdrive.controls.dmonitoringd", 5.48),
      ("./boardd", 3.63),
@@ -6,6 +6,7 @@ def clip(x, lo, hi):

 def interp(x, xp, fp):
  N = len(xp)
+
  def get_interp(xv):
    hi = 0
    while hi < N and xv > xp[hi]:
@@ -14,8 +15,8 @@ def interp(x, xp, fp):
    return fp[-1] if hi == N and xv > xp[low] else (
      fp[0] if hi == 0 else
      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
-  return [get_interp(v) for v in x] if hasattr(
-    x, '__iter__') else get_interp(x)
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)

 def mean(x):
  return sum(x) / len(x)
@@ -22,16 +22,14 @@ file in place without messing with <params_dir>/d.
 """
 import time
 import os
-import string
-import binascii
 import errno
-import sys
 import shutil
 import fcntl
 import tempfile
 import threading
 from enum import Enum
 from common.basedir import PARAMS
+from common.dp_conf import init_params_keys

 def mkdirs_exists_ok(path):
  try:
@@ -110,6 +108,7 @@ keys = {
  "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
 }

+keys = init_params_keys(keys, [TxType.PERSISTENT])

 def fsync_dir(path):
  fd = os.open(path, os.O_RDONLY)
@@ -198,7 +197,8 @@ class DBReader(DBAccessor):
    finally:
      lock.release()

-  def __exit__(self, type, value, traceback): pass
+  def __exit__(self, type, value, traceback):
+    pass


 class DBWriter(DBAccessor):
@@ -401,22 +401,3 @@ def put_nonblocking(key, val):
  t = threading.Thread(target=f, args=(key, val))
  t.start()
  return t
-
-
-if __name__ == "__main__":
-  params = Params()
-  if len(sys.argv) > 2:
-    params.put(sys.argv[1], sys.argv[2])
-  else:
-    for k in keys:
-      pp = params.get(k)
-      if pp is None:
-        print("%s is None" % k)
-      elif all(chr(c) in string.printable for c in pp):
-        print("%s = %s" % (k, pp))
-      else:
-        print("%s = %s" % (k, binascii.hexlify(pp)))
-
-  # Test multiprocess:
-  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
-  # while python common/params.py DongleId; do sleep 0.05; done
@@ -43,4 +43,3 @@ class Profiler():
      else:
        print("%30s: %9.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
-
@@ -40,7 +40,7 @@ class Spinner():
    self.close()


-class FakeSpinner():
+class FakeSpinner(Spinner):
  def __init__(self):
    pass

@@ -32,7 +32,7 @@ class RunningStat():
      self.S_last = 0.
    else:
      self.M = self.M_last + (new_data - self.M_last) / self.n
-      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M);
+      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
      self.M_last = self.M
      self.S_last = self.S

@@ -64,7 +64,7 @@ class RunningStatFilter():
    _std_last = self.raw_stat.std()
    self.raw_stat.push_data(new_data)
    _delta_std = self.raw_stat.std() - _std_last
-    if _delta_std<=0:
+    if _delta_std <= 0:
      self.filtered_stat.push_data(new_data)
    else:
      pass
@@ -6,4 +6,3 @@ def phone_only(x):
    return x
  else:
    return nottest(x)
-
@@ -43,7 +43,7 @@ class TextWindow():
    self.close()


-class FakeTextWindow():
+class FakeTextWindow(TextWindow):
  def __init__(self, s):
    pass

@@ -59,6 +59,9 @@ class FakeTextWindow():
  def update(self, _):
    pass

+  def close(self):
+    pass
+
  def __exit__(self, type, value, traceback):
    pass

@@ -25,4 +25,3 @@ class Timeout:

  def __exit__(self, exc_type, exc_val, exc_tb):
    signal.alarm(0)
-
@@ -59,7 +59,7 @@ def vp_from_ke(m):

  The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
  """
-  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
+  return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])


 def vp_from_rpy(rpy):
@@ -81,10 +81,10 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
  img_pts = np.array(img_pts)
  input_shape = img_pts.shape
  img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
  img_pts_normalized = img_pts.dot(intrinsics_inv.T)
  img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
-  return img_pts_normalized[:,:2].reshape(input_shape)
+  return img_pts_normalized[:, :2].reshape(input_shape)


 def denormalize(img_pts, intrinsics=eon_intrinsics):
@@ -93,13 +93,13 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
  img_pts = np.array(img_pts)
  input_shape = img_pts.shape
  img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
  img_pts_denormalized = img_pts.dot(intrinsics.T)
-  img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
-  return img_pts_denormalized[:,:2].reshape(input_shape)
+  img_pts_denormalized[img_pts_denormalized[:, 0] > W] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] > H] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
+  return img_pts_denormalized[:, :2].reshape(input_shape)


 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
@@ -124,10 +124,10 @@ def img_from_device(pt_device):
  pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)

  # This function should never return negative depths
-  pt_view[pt_view[:,2] < 0] = np.nan
+  pt_view[pt_view[:, 2] < 0] = np.nan

-  pt_img = pt_view/pt_view[:,2:3]
-  return pt_img.reshape(input_shape)[:,:2]
+  pt_img = pt_view/pt_view[:, 2:3]
+  return pt_img.reshape(input_shape)[:, :2]


 def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
@@ -145,4 +145,3 @@ def pretransform_from_calib(calib):
  camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
  return np.linalg.inv(camera_frame_from_calib_frame)
-
@@ -18,9 +18,9 @@ def geodetic2ecef(geodetic, radians=False):
  geodetic = np.atleast_2d(geodetic)

  ratio = 1.0 if radians else (np.pi / 180.0)
-  lat = ratio*geodetic[:,0]
-  lon = ratio*geodetic[:,1]
-  alt = geodetic[:,2]
+  lat = ratio*geodetic[:, 0]
+  lon = ratio*geodetic[:, 1]
+  alt = geodetic[:, 2]

  xi = np.sqrt(1 - esq * np.sin(lat)**2)
  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
@@ -52,7 +52,7 @@ def ecef2geodetic(ecef, radians=False):
  S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
  P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
  Q = np.sqrt(1 + 2 * esq * esq * P)
-  r_0 =  -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
        P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
  U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
  V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
@@ -78,6 +78,8 @@ class LocalCoord():
                                     [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
                                     [np.cos(lat), 0, -np.sin(lat)]])
    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+    self.ecef_from_ned_matrix = self.ned2ecef_matrix
+    self.ned_from_ecef_matrix = self.ecef2ned_matrix

  @classmethod
  def from_geodetic(cls, init_geodetic):
@@ -130,9 +130,9 @@ def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):

 def get_model_frame(snu_full, camera_frame_from_model_frame, size):
  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
-                                                            np.tile(np.arange(size[1]), (size[0],1)).T.flatten(),
+                                                            np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
-  calib_flat = snu_full[idxs[:,1], idxs[:,0]]
+  calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
  if len(snu_full.shape) == 3:
    calib = calib_flat.reshape((size[1], size[0], 3))
  elif len(snu_full.shape) == 2:
@@ -13,11 +13,11 @@ Supports both x2y and y_from_x format (y_from_x preferred!).
 def euler2quat(eulers):
  eulers = array(eulers)
  if len(eulers.shape) > 1:
-    output_shape = (-1,4)
+    output_shape = (-1, 4)
  else:
    output_shape = (4,)
  eulers = np.atleast_2d(eulers)
-  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
+  gamma, theta, psi = eulers[:, 0],  eulers[:, 1],  eulers[:, 2]

  q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
       np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
@@ -30,7 +30,7 @@ def euler2quat(eulers):

  quats = array([q0, q1, q2, q3]).T
  for i in range(len(quats)):
-    if quats[i,0] < 0:
+    if quats[i, 0] < 0:
      quats[i] = -quats[i]
  return quats.reshape(output_shape)

@@ -38,11 +38,11 @@ def euler2quat(eulers):
 def quat2euler(quats):
  quats = array(quats)
  if len(quats.shape) > 1:
-    output_shape = (-1,3)
+    output_shape = (-1, 3)
  else:
    output_shape = (3,)
  quats = np.atleast_2d(quats)
-  q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
+  q0, q1, q2, q3 = quats[:, 0], quats[:, 1], quats[:, 2], quats[:, 3]

  gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
  theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
@@ -101,7 +101,7 @@ def rot2quat(rots):
  q = np.empty((len(rots), 4))
  for i in range(len(rots)):
    _, eigvecs = linalg.eigh(K3[i].T)
-    eigvecs = eigvecs[:,3:]
+    eigvecs = eigvecs[:, 3:]
    q[i, 0] = eigvecs[-1]
    q[i, 1:] = -eigvecs[:-1].flatten()
    if q[i, 0] < 0:
@@ -124,8 +124,8 @@ def rot2euler(rots):
 quats_from_rotations = rot2quat
 quat_from_rot = rot2quat
 rotations_from_quats = quat2rot
-rot_from_quat= quat2rot
-rot_from_quat= quat2rot
+rot_from_quat = quat2rot
+rot_from_quat = quat2rot
 euler_from_rot = rot2euler
 euler_from_quat = quat2euler
 rot_from_euler = euler2rot
@@ -154,9 +154,9 @@ def rot_matrix(roll, pitch, yaw):
  cr, sr = np.cos(roll), np.sin(roll)
  cp, sp = np.cos(pitch), np.sin(pitch)
  cy, sy = np.cos(yaw), np.sin(yaw)
-  rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
-  rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
-  ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
+  rr = array([[1, 0, 0], [0, cr, -sr], [0, sr, cr]])
+  rp = array([[cp, 0, sp], [0, 1, 0], [-sp, 0, cp]])
+  ry = array([[cy, -sy, 0], [sy, cy, 0], [0, 0, 1]])
  return ry.dot(rp.dot(rr))


@@ -0,0 +1,56 @@
+Make a python script translatable
+--
+1. add following codes to the top
+```python
+# This Python file uses the following encoding: utf-8
+# -*- coding: utf-8 -*-
+from common.i18n import events
+_ = events()
+``` 
+2. wrap ```_()``` function around the string.
+
+3. generate pot file (template file)
+```bash
+# e.g. xgettext -d base -o /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/controls/lib/events.py
+xgettext -d base -o <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <file_to_translate>.py
+```
+
+4. add po file to languages
+```bash
+# e.g. cp /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po
+cp <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.po
+```
+
+5. translate po file with your favorite editor.
+
+6. generate mo file.
+```bash
+# e.g. msgfmt -o /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events
+msgfmt -o <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.mo <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>
+```
+
+Update translations
+---
+1. add ```_()``` around the new strings
+
+2. generate pot file again (template file)
+```bash
+# e.g. xgettext -d base -o /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/controls/lib/events.py
+xgettext -d base -o <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <file_to_translate>.py
+```
+
+3. update already translated file (merge)
+```bash
+# e.g. msgmerge --update /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po /data/openpilot/selfdrive/assets/locales/events.pot
+msgmerge --update <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<file_to_translate>.po <openpilot_path>/selfdrive/assets/locales/<template_file>.pot
+```
+
+4. generate mo file again.
+```bash
+# e.g. msgfmt -o /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events
+msgfmt -o <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.mo <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>
+```
+
+Reference
+---
+https://simpleit.rocks/python/how-to-translate-a-python-project-with-gettext-the-easy-way/
@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
@@ -0,0 +1,92 @@
+This Font Software is licensed under the SIL Open Font License,
+Version 1.1.
+
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font
+creation efforts of academic and linguistic communities, and to
+provide a free and open framework in which fonts may be shared and
+improved in partnership with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply to
+any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software
+components as distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to,
+deleting, or substituting -- in part or in whole -- any of the
+components of the Original Version, by changing formats or by porting
+the Font Software to a new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed,
+modify, redistribute, and sell modified and unmodified copies of the
+Font Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components, in
+Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the
+corresponding Copyright Holder. This restriction only applies to the
+primary font name as presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created using
+the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
@@ -0,0 +1,372 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+    NOTE: this is the newer (L) version of the system font configuration,
+    supporting richer weight selection. Some apps will expect the older
+    version, so please keep system_fonts.xml and fallback_fonts.xml in sync
+    with any changes, even though framework will only read this file.
+
+    All fonts withohut names are added to the default list. Fonts are chosen
+    based on a match: full BCP-47 language tag including script, then just
+    language, and finally order (the first font containing the glyph).
+
+    Order of appearance is also the tiebreaker for weight matching. This is
+    the reason why the 900 weights of Roboto precede the 700 weights - we
+    prefer the former when an 800 weight is requested. Since bold spans
+    effectively add 300 to the weight, this ensures that 900 is the bold
+    paired with the 500 weight, ensuring adequate contrast.
+-->
+<familyset version="22">
+    <!-- first font is default -->
+    <family name="sans-serif">
+        <font weight="100" style="normal">Roboto-Thin.ttf</font>
+        <font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
+        <font weight="300" style="normal">Roboto-Light.ttf</font>
+        <font weight="300" style="italic">Roboto-LightItalic.ttf</font>
+        <font weight="400" style="normal">Roboto-Regular.ttf</font>
+        <font weight="400" style="italic">Roboto-Italic.ttf</font>
+        <font weight="500" style="normal">Roboto-Medium.ttf</font>
+        <font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
+        <font weight="900" style="normal">Roboto-Black.ttf</font>
+        <font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
+        <font weight="700" style="normal">Roboto-Bold.ttf</font>
+        <font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
+    </family>
+
+    <!-- Note that aliases must come after the fonts they reference. -->
+    <alias name="sans-serif-thin" to="sans-serif" weight="100" />
+    <alias name="sans-serif-light" to="sans-serif" weight="300" />
+    <alias name="sans-serif-medium" to="sans-serif" weight="500" />
+    <alias name="sans-serif-black" to="sans-serif" weight="900" />
+    <alias name="arial" to="sans-serif" />
+    <alias name="helvetica" to="sans-serif" />
+    <alias name="tahoma" to="sans-serif" />
+    <alias name="verdana" to="sans-serif" />
+
+    <family name="sans-serif-condensed">
+        <font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
+        <font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
+        <font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
+        <font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
+        <font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
+        <font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
+    </family>
+    <alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
+
+    <family name="serif">
+        <font weight="400" style="normal">NotoSerif-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSerif-Bold.ttf</font>
+        <font weight="400" style="italic">NotoSerif-Italic.ttf</font>
+        <font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
+    </family>
+    <alias name="times" to="serif" />
+    <alias name="times new roman" to="serif" />
+    <alias name="palatino" to="serif" />
+    <alias name="georgia" to="serif" />
+    <alias name="baskerville" to="serif" />
+    <alias name="goudy" to="serif" />
+    <alias name="fantasy" to="serif" />
+    <alias name="ITC Stone Serif" to="serif" />
+
+    <family name="monospace">
+        <font weight="400" style="normal">DroidSansMono.ttf</font>
+    </family>
+    <alias name="sans-serif-monospace" to="monospace" />
+    <alias name="monaco" to="monospace" />
+
+    <family name="serif-monospace">
+        <font weight="400" style="normal">CutiveMono.ttf</font>
+    </family>
+    <alias name="courier" to="serif-monospace" />
+    <alias name="courier new" to="serif-monospace" />
+
+    <family name="casual">
+        <font weight="400" style="normal">ComingSoon.ttf</font>
+    </family>
+
+    <family name="cursive">
+        <font weight="400" style="normal">DancingScript-Regular.ttf</font>
+        <font weight="700" style="normal">DancingScript-Bold.ttf</font>
+    </family>
+
+    <family name="sans-serif-smallcaps">
+        <font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
+    </family>
+
+    <!-- fallback fonts -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
+    </family>
+    <!-- Gujarati should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
+    </family>
+    <!-- Gurmukhi should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
+    </family>
+    <family lang="ko">
+        <font weight="400" style="normal">NotoSansKR-Regular.otf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NanumGothic.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
+    </family>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">MTLmr3m.ttf</font>
+    </family>
+    <!--
+        Tai Le and Mongolian are intentionally kept last, to make sure they don't override
+        the East Asian punctuation for Chinese.
+    -->
+    <family>
+        <font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
+    </family>
+</familyset>
@@ -0,0 +1,62 @@
+#!/usr/bin/bash
+
+###############################################################################
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+# Noto is a trademark of Google Inc. Noto fonts are open source.
+# All Noto fonts are published under the SIL Open Font License,
+# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
+#
+###############################################################################
+
+
+# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+#lang=en
+
+update_font=0
+remove_old_font=0
+
+# check regular font
+if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
+    update_font=1
+fi
+
+if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 3 secs in case, make sure the /system is re-mountable
+    sleep 3
+    mount -o remount,rw /system
+    if [ $update_font -eq "1" ]; then
+        # install font
+        cp -rf /data/openpilot/dragonpilot/cjk-fonts/NotoSansCJKtc-* /system/fonts/
+        # install font mapping
+        cp -rf /data/openpilot/dragonpilot/cjk-fonts/fonts.xml /system/etc/fonts.xml
+        # change permissions
+        chmod 644 /system/etc/fonts.xml
+        chmod 644 /system/fonts/NotoSansCJKtc-*
+    fi
+    mount -o remount,r /system
+    # change system locale
+fi
+
+#setprop persist.sys.locale $lang
+#setprop persist.sys.local $lang
@@ -0,0 +1,7 @@
+{
+  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a-kernel.zip",
+  "ota_hash": "3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a",
+  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
+  "recovery_len": 15861036,
+  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
+}
@@ -30,10 +30,10 @@ function launch {
  #    that completed successfully and synced to disk.

  if [ -f "${BASEDIR}/.overlay_init" ]; then
-    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${BASEDIR} has been modified, skipping overlay update installation"
-    else
+#    find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
+#    if [ $? -eq 0 ]; then
+#      echo "${BASEDIR} has been modified, skipping overlay update installation"
+#    else
      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
        if [ ! -d /data/safe_staging/old_openpilot ]; then
          echo "Valid overlay update found, installing"
@@ -52,7 +52,7 @@ function launch {
          # TODO: restore backup? This means the updater didn't start after swapping
        fi
      fi
-    fi
+#    fi
  fi

  # no cpu rationing for now
@@ -66,6 +66,7 @@ function launch {
  echo 3 > /proc/irq/6/smp_affinity_list # MDSS
  echo 1 > /proc/irq/78/smp_affinity_list # Modem, can potentially lock up
  echo 2 > /proc/irq/733/smp_affinity_list # USB
+  echo 2 > /proc/irq/736/smp_affinity_list # USB

  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

@@ -82,6 +83,10 @@ function launch {
    fi

    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+  else
+      if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
+          "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
+      fi
  fi


@@ -89,6 +94,10 @@ function launch {
  ln -sfn $(pwd) /data/pythonpath
  export PYTHONPATH="$PWD"

+  if [ -f "/sdcard/dp_patcher.py" ]; then
+    /data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
+  fi
+
  # start manager
  cd selfdrive
  ./manager.py
@@ -1,5 +1,5 @@
 #!/usr/bin/bash
-
+/usr/bin/sh /data/openpilot/dragonpilot/cjk-fonts/installer.sh &
 export PASSIVE="0"
 exec ./launch_chffrplus.sh

@@ -11,4 +11,7 @@ extraction:
      - "export PATH=$PWD/external/bin:$PATH"
    index:
      build_command: "python3 $(which scons)"
-
+  javascript:
+    index:
+      filters:
+      - exclude: "*"
@@ -12,6 +12,9 @@ jobs:
          set -e
          docker build -t opendbc .
        name: "Build"
+      - name: Static analysis
+        run: |
+          docker run opendbc bash -c "cd opendbc && git init && git add -A && pre-commit run --all"
      - run: |
          docker run opendbc bash -c "python -m unittest discover opendbc"
        name: "Unit tests"
@@ -1,3 +1,4 @@
+.mypy_cache/
 *.pyc
 *.os
 *.tmp
@@ -0,0 +1,27 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: master
+    hooks:
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: master
+    hooks:
+    -   id: mypy
+-   repo: https://github.com/PyCQA/flake8
+    rev: master
+    hooks:
+    -   id: flake8
+        args:
+        - --select=F
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        args:
+        - --disable=R,C,W
@@ -1,6 +1,6 @@
 from ubuntu:16.04

-RUN apt-get update && apt-get install -y libzmq3-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
+RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl

 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
@@ -10,16 +10,16 @@ RUN pyenv rehash

 COPY requirements.txt /tmp/
 RUN pip install -r /tmp/requirements.txt
+RUN pip install pre-commit==2.4.0 pylint==2.5.2

 ENV PYTHONPATH=/project

+WORKDIR /project
 # TODO: Add tag to cereal
 RUN git clone https://github.com/commaai/cereal.git /project/cereal
-RUN /project/cereal/install_capnp.sh
-
-WORKDIR /project

 COPY SConstruct .
 COPY . /project/opendbc

+RUN rm -rf /project/opendbc/.git
 RUN scons -c && scons -j$(nproc)
@@ -1,2 +1,2 @@
-from opendbc.can.parser_pyx import CANDefine # pylint: disable=no-name-in-module, import-error
+from opendbc.can.parser_pyx import CANDefine  # pylint: disable=no-name-in-module, import-error
 assert CANDefine
@@ -55,7 +55,7 @@ class dbc():

        name = dat.group(2)
        size = int(dat.group(3))
-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
        if ids in self.msgs:
          sys.exit("Duplicate address detected %d %s" % (ids, self.name))

@@ -73,15 +73,15 @@ class dbc():
          print("bad SG {0}".format(l))

        sgname = dat.group(1)
-        start_bit = int(dat.group(go+2))
-        signal_size = int(dat.group(go+3))
-        is_little_endian = int(dat.group(go+4))==1
-        is_signed = dat.group(go+5)=='-'
-        factor = int_or_float(dat.group(go+6))
-        offset = int_or_float(dat.group(go+7))
-        tmin = int_or_float(dat.group(go+8))
-        tmax = int_or_float(dat.group(go+9))
-        units = dat.group(go+10)
+        start_bit = int(dat.group(go + 2))
+        signal_size = int(dat.group(go + 3))
+        is_little_endian = int(dat.group(go + 4)) == 1
+        is_signed = dat.group(go + 5) == '-'
+        factor = int_or_float(dat.group(go + 6))
+        offset = int_or_float(dat.group(go + 7))
+        tmin = int_or_float(dat.group(go + 8))
+        tmax = int_or_float(dat.group(go + 9))
+        units = dat.group(go + 10)

        self.msgs[ids][1].append(
          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
@@ -94,15 +94,15 @@ class dbc():
        if dat is None:
          print("bad VAL {0}".format(l))

-        ids = int(dat.group(1), 0) # could be hex
+        ids = int(dat.group(1), 0)  # could be hex
        sgname = dat.group(2)
        defvals = dat.group(3)

-        defvals = defvals.replace("?",r"\?") #escape sequence in C++
+        defvals = defvals.replace("?", r"\?")  # escape sequence in C++
        defvals = defvals.split('"')[:-1]

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

        self.def_vals[ids].append((sgname, defvals))
@@ -33,7 +33,7 @@ class BuildExtWithoutPlatformSuffix(build_ext):


 sourcefiles = ['packer_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg

 if ARCH == "aarch64":
@@ -54,7 +54,7 @@ setup(name='CAN packer',
          extra_compile_args=extra_compile_args,
          include_dirs=[
            BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+            os.path.join(BASEDIR, 'phonelibs'),
          ],
          extra_link_args=[
            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
@@ -66,4 +66,3 @@ setup(name='CAN packer',

 if platform.system() == "Darwin":
  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib packer_pyx.so")
-
@@ -33,7 +33,7 @@ class BuildExtWithoutPlatformSuffix(build_ext):


 sourcefiles = ['parser_pyx.pyx']
-extra_compile_args = ["-std=c++11"]
+extra_compile_args = ["-std=c++14"]
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg

 if ARCH == "aarch64":
@@ -54,7 +54,7 @@ setup(name='CAN parser',
          extra_compile_args=extra_compile_args,
          include_dirs=[
            BASEDIR,
-            os.path.join(BASEDIR, 'phonelibs', 'capnp-cpp/include'),
+            os.path.join(BASEDIR, 'phonelibs'),
          ],
          extra_link_args=[
            os.path.join(BASEDIR, 'opendbc', 'can', libdbc),
@@ -66,4 +66,3 @@ setup(name='CAN parser',

 if platform.system() == "Darwin":
  os.system("install_name_tool -change opendbc/can/libdbc.dylib "+BASEDIR+"/opendbc/can/libdbc.dylib parser_pyx.so")
-
@@ -19,10 +19,11 @@ def process(in_fn, out_fn):

  can_dbc = dbc(in_fn)

-  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
+  # process counter and checksums first
+  msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM")))
          for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]

-  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()} # remove duplicates
+  def_vals = {a: sorted(set(b)) for a, b in can_dbc.def_vals.items()}  # remove duplicates
  def_vals = sorted(def_vals.items())

  if can_dbc.name.startswith(("honda_", "acura_")):
@@ -46,7 +47,7 @@ def process(in_fn, out_fn):
    checksum_start_bit = 0
    counter_start_bit = 0
    little_endian = True
-  elif can_dbc.name.startswith(("subaru_")):
+  elif can_dbc.name.startswith(("subaru_global_")):
    checksum_type = "subaru"
    checksum_size = 8
    counter_size = None
@@ -123,4 +124,3 @@ def main():

 if __name__ == '__main__':
  main()
-
@@ -60,12 +60,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -128,10 +128,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -285,6 +286,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -3,7 +3,6 @@ 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
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
@@ -12,6 +11,9 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX

 BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
@@ -32,126 +32,124 @@ NS_ :
    SG_MUL_VAL_

 BS_: 
-BU_: K16_BECM K114B_HPCM T18_BatteryCharger
-
+BU_: K16_BECM K114B_HPCM T18_BatteryCharger 
 BO_ 512 Battery_Module_1: 8 K16_BECM
-   SG_ Voltage_1_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_1_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_1 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+   SG_ Voltage_1_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_1_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_1 M : 55|3@0+ (1,0) [0|0] "" K16_BECM

 BO_ 514 Battery_Module_2: 8 K16_BECM
-   SG_ Voltage_2_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_2_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_2 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+   SG_ Voltage_2_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_2_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_2 M : 55|3@0+ (1,0) [0|0] "" K16_BECM

 BO_ 516 Battery_Module_3: 8 K16_BECM
-   SG_ Voltage_3_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_3_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_3 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+   SG_ Voltage_3_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_3_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_3 M : 55|3@0+ (1,0) [0|0] "" K16_BECM

 BO_ 518 Battery_Module_4: 8 K16_BECM
-   SG_ Voltage_4_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Voltage_4_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
-   SG_ Cell_Bank_Number_4 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+   SG_ Voltage_4_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Voltage_4_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM
+   SG_ Cell_Bank_Number_4 M : 55|3@0+ (1,0) [0|0] "" K16_BECM

 BO_ 528 Pack_Stats: 8 K16_BECM
   SG_ Pack_Voltage : 7|12@0+ (0.125,0) [0|0] "V" K16_BECM
-   SG_ Pack_Amps : 9|10@0+ (0.1,0) [0|0] "" K16_BECM
-   SG_ Pack_Amps2 : 28|12@0+ (0.05,0) [0|0] "" K16_BECM
+   SG_ Pack_Current : 23|8@0- (0.15,0) [0|0] "A" K16_BECM

 BO_ 530 Charger_stats: 6 T18_BatteryCharger
-   SG_ Charger_HV_Current : 0|13@1+ (0.05,0) [0|0] "A" K16_BECM
-   SG_ HV_Voltage : 13|10@1+ (0.5,0) [0|0] "V" K16_BECM
+   SG_ Charger_HV_Current : 0|10@1+ (0.05,0) [0|0] "A" K16_BECM
+   SG_ HV_Voltage : 10|10@1+ (0.5,0) [0|0] "V" K16_BECM
   SG_ LV_Current : 23|8@1+ (0.2,0) [0|0] "A" K16_BECM
-   SG_ LV_Voltage : 31|10@1- (0.025,0) [0|0] "V" K16_BECM
+   SG_ LV_Voltage : 31|10@1+ (0.025,0) [0|0] "V" K16_BECM

 BO_ 770 Battery_temp: 8 K16_BECM
   SG_ Temp_A m0 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM
@@ -165,6 +163,26 @@ BO_ 770 Battery_temp: 8 K16_BECM
   SG_ Temp_I m1 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM
   SG_ Switch M : 2|1@1+ (1,0) [0|0] "" K16_BECM

+BO_ 782 Charger_Command: 1 T18_BatteryCharger
+   SG_ Command : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 772 Charger_parameters: 4 T18_BatteryCharger
+   SG_ Unknown : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+   SG_ Current : 8|8@1+ (0.05,0) [0|0] "A" Vector__XXX
+   SG_ Voltage : 23|16@0+ (0.5,0) [0|0] "V" Vector__XXX
+
+BO_ 1120 Coolant_Temp: 4 K16_BECM
+   SG_ Coolant_Temp : 7|16@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 778 AC_Stats: 7 T18_BatteryCharger
+   SG_ Mains_Voltage : 0|12@1+ (0.1,0) [0|0] "V" Vector__XXX
+   SG_ Total_Charge : 19|8@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 776 Charger_unknown: 5 T18_BatteryCharger
+   SG_ Bit_20 : 20|1@1+ (1,0) [0|0] "" Vector__XXX
+   SG_ Bit_21 : 21|1@1+ (1,0) [0|0] "" Vector__XXX
+   SG_ Bit_22 : 22|1@1+ (1,0) [0|0] "" Vector__XXX
+
 BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ;
 BA_DEF_ BO_ "GenMsgForegroundColor" STRING ;
 BA_DEF_ BO_ "isj1939dbc" INT 0 0;
@@ -173,4 +191,5 @@ BA_DEF_DEF_ "GenMsgForegroundColor" "#000000";
 BA_DEF_DEF_ "isj1939dbc" 0;
 CM_ BU_ K16_BECM "Battery Energy Control Module";
 CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
-CM_ BU_ T18_BatteryCharger "Battery Charger";
+CM_ BU_ T18_BatteryCharger "Battery Charger";
+VAL_ 782 Command 1 "12V_Only" 2 "HV_Only" 3 "12V_and_HV";
@@ -0,0 +1,56 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+BU_: K1_APM
+BO_ 470 APM_Stats: 7 K1_APM
+   SG_ APM_Low_Voltage_Sensed : 16|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX
+   SG_ APM_Temperature_1 : 24|8@1+ (1,-40) [0|0] "C" Vector__XXX
+   SG_ APM_Temperature_2 : 32|8@1+ (1,-40) [0|0] "C" Vector__XXX
+   SG_ APM_Low_Voltage_Current_Output : 40|8@1- (1,0) [0|0] "A" Vector__XXX
+   SG_ APM_Status : 7|8@0+ (1,0) [0|0] "" Vector__XXX
+   SG_ APM_High_Voltage_Input_Current : 8|8@1- (0.15,-7) [0|0] "A" Vector__XXX
+   SG_ APM_Counter : 48|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 468 APM_Command: 2 K1_APM
+   SG_ APM_Status : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+   SG_ APM_Voltage_Requested : 8|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX
+
+BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ;
+BA_DEF_ BO_ "GenMsgForegroundColor" STRING ;
+BA_DEF_ BO_ "isj1939dbc" INT 0 0;
+BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff";
+BA_DEF_DEF_ "GenMsgForegroundColor" "#000000";
+BA_DEF_DEF_ "isj1939dbc" 0;
+CM_ BU_ K1_APM "14V Power Module";
+VAL_ 468 APM_Status 0 "Off" 160 "On";
@@ -990,6 +990,8 @@ BO_ 1342 LKAS12: 6 LDWS_LKAS
 SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
 SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
 SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU
+ SG_ CF_Lkas_Daw_USM : 39|3@1+ (1,0) [0|7] "" CLU

 BO_ 1338 TMU_GW_E_01: 8 CLU
 SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
@@ -1159,27 +1161,27 @@ BO_ 1314 GW_IPM_PE_1: 8 BCM
 SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU

 BO_ 1057 SCC12: 8 SCC
- SG_ CF_VSM_Prefill : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CF_VSM_DecCmdAct : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ CF_VSM_HBACmd : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  ESC
- SG_ CF_VSM_Warn : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IAP
- SG_ CF_VSM_Stat : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,PSB
- SG_ CF_VSM_BeltCmd : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC,PSB
- SG_ ACCFailInfo : 11|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,ESC,IBOX
- SG_ ACCMode : 13|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IBOX,TCU
- SG_ StopReq : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB,ESC
- SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0.0) [0.0|2.55] "g"  ESC
- SG_ aReqMax : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,ESC,TCU
- SG_ TakeOverReq : 35|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC,TCU
- SG_ PreFill : 36|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,TCU
- SG_ aReqMin : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,ESC,TCU
- SG_ CF_VSM_ConfMode : 48|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_Failinfo : 50|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_Status : 52|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ AEB_CmdAct : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ AEB_StopReq : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC
- SG_ CR_VSM_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,PSB
- SG_ CR_VSM_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,PSB
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_DecCmdAct : 1|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_HBACmd : 2|2@1+ (1,0) [0|3] "" ESC
+ SG_ CF_VSM_Warn : 4|2@1+ (1,0) [0|3] "" CLU,ESC,IAP
+ SG_ CF_VSM_Stat : 6|2@1+ (1,0) [0|3] "" CLU,ESC,PSB
+ SG_ CF_VSM_BeltCmd : 8|3@1+ (1,0) [0|7] "" ESC,PSB
+ SG_ ACCFailInfo : 11|2@1+ (1,0) [0|3] "" CLU,CUBIS,ESC,IBOX
+ SG_ ACCMode : 13|2@1+ (1,0) [0|3] "" CLU,ESC,IBOX,TCU
+ SG_ StopReq : 15|1@1+ (1,0) [0|1] "" EPB,ESC
+ SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0) [0|2.55] "g" ESC
+ SG_ TakeOverReq : 35|1@1+ (1,0) [0|1] "" CLU,ESC,TCU
+ SG_ PreFill : 36|1@1+ (1,0) [0|1] "" ESC,TCU
+ SG_ CF_VSM_ConfMode : 48|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_Failinfo : 50|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_Status : 52|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_CmdAct : 54|1@1+ (1,0) [0|1] "" ESC
+ SG_ AEB_StopReq : 55|1@1+ (1,0) [0|1] "" CLU,ESC
+ SG_ CR_VSM_Alive : 56|4@1+ (1,0) [0|15] "" ESC,PSB
+ SG_ CR_VSM_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC,PSB
+ SG_ aReqValue : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX
+ SG_ aReqRaw : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX

 BO_ 1313 GW_DDM_PE: 8 BCM
 SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
@@ -1188,23 +1190,23 @@ BO_ 1313 GW_DDM_PE: 8 BCM
 SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
-
+ 
 BO_ 1056 SCC11: 8 SCC
- SG_ MainMode_ACC : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,ESC
- SG_ SCCInfoDisplay : 1|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC
- SG_ AliveCounterACC : 4|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,EMS,ESC,TCU
- SG_ VSetDis : 8|8@1+ (1.0,0.0) [0.0|255.0] "km/h or MPH"  CLU,ESC,TCU
- SG_ ObjValid : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,ESC,TCU
- SG_ DriverAlertDisplay : 17|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
- SG_ TauGapSet : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC,TCU
- SG_ ACC_ObjStatus : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  ABS,ESC
- SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20.0) [-20.0|31.1] "m"  ABS,ESC
- SG_ ACC_ObjDist : 33|11@1+ (0.1,0.0) [0.0|204.7] "m"  ABS,ESC
- SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170.0) [-170.0|239.5] "m/s"  ABS,ESC
- SG_ Navi_SCC_Curve_Status : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Curve_Act : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Camera_Act : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
- SG_ Navi_SCC_Camera_Status : 62|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ MainMode_ACC : 0|1@1+ (1,0) [0|1] "" CLU,EMS,ESC
+ SG_ SCCInfoDisplay : 1|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ AliveCounterACC : 4|4@1+ (1,0) [0|15] "" CLU,EMS,ESC,TCU
+ SG_ VSetDis : 8|8@1+ (1,0) [0|255] "km/h or MPH" CLU,ESC,TCU
+ SG_ ObjValid : 16|1@1+ (1,0) [0|1] "" CLU,ESC,TCU
+ SG_ DriverAlertDisplay : 17|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ TauGapSet : 19|3@1+ (1,0) [0|7] "" CLU,ESC,TCU
+ SG_ Navi_SCC_Curve_Status : 56|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Curve_Act : 58|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Camera_Act : 60|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Camera_Status : 62|2@1+ (1,0) [0|3] "" CLU
+ SG_ ACC_ObjStatus : 22|2@1+ (1,0) [0|3] "" ABS,ESC
+ SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20) [-20|31.1] "m" ABS,ESC
+ SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170) [-170|239.5] "m/s" ABS,ESC
+ SG_ ACC_ObjDist : 33|11@1+ (0.1,0) [0|204.7] "m" ABS,ESC

 BO_ 1312 CGW3: 8 BCM
 SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] ""  DATC,DATC
@@ -1248,6 +1250,14 @@ BO_ 790 EMS11: 8 EMS
 SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS
 SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] ""  _4WD,IBOX,TCU

+BO_ 881 E_EMS11: 8 XXX
+ SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
+ SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
+ SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
+
 BO_ 1301 CLU14: 8 CLU
 SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
 SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
@@ -1367,9 +1377,9 @@ BO_ 1292 CLU13: 8 CLU
 SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,LDWS_LKAS

 BO_ 1290 SCC13: 8 SCC
- SG_ SCCDrvModeRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
- SG_ SCC_Equip : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
- SG_ AebDrvSetStatus : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ESC
+ SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU
+ SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC
+ SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC

 BO_ 1287 TCS15: 4 ESC
 SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,CUBIS,IBOX
@@ -1423,26 +1433,38 @@ BO_ 512 EMS20: 6 EMS
 SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  FPCM

 BO_ 909 FCA11: 8 FCA
- SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] ""  ESC
- SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] ""  ESC
- SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
- SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] ""  ESC
- SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g"  ESC
- SG_ FCA_Status : 18|2@1+ (1,0) [0|3] ""  ACU,CLU,ESC
- SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] ""  ESC
- SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] ""  CLU,ESC
- SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] ""  CLU,ESC
- SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] ""  ESC
- SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] ""  ACU,CLU,ESC
- SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] ""  ESC
- SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] ""  ESC
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] "" ESC
+ SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
+ SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] "" ESC
+ SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g" ESC
+ SG_ FCA_Status : 18|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
+ SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] "" ESC
+ SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] "" CLU,ESC
+ SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] "" ESC
+ SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] "" ACU,CLU,ESC
+ SG_ FCA_RelativeVelocity : 39|9@1+ (0.1,-25.5) [-25.5|25.5] "m/s" iBAU
+ SG_ FCA_TimetoCollision : 48|8@1+ (10,0) [0|2540] "ms" iBAU
+ SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] "" ESC
+ SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC
+ SG_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX
+ SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX
+
+BO_ 1155 FCA12: 8 FCA
+ SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC
+ SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW
+
+BO_ 1186 FRT_RADAR11: 2 FCA
+ SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC

 BO_ 905 SCC14: 8 SCC
- SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
- SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2"  ESC
- SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
- SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3"  ESC
- SG_ SCCMode : 32|3@1+ (1,0) [0|7] ""  ESC
+ SG_ ComfortBandLower : 6|6@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ComfortBandUpper : 0|6@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ JerkLowerLimit : 19|7@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|0] "" Vector__XXX
+ SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
+ SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC

 BO_ 882 ELECT_GEAR: 8 XXX
 SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] ""  CLU
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -0,0 +1,411 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 353 DSU_SPEED: 7 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_2018_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -0,0 +1,408 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_nxt_2015_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -402,23 +402,26 @@ BO_ 158 MSG_05: 8 XXX
 SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX

 BO_ 157 CRZ_BTNS: 8 XXX
- SG_ SET_P_INV : 21|1@0+ (1,0) [0|3] "" XXX
- SG_ CAN_OFF_INV : 17|1@1+ (1,0) [0|3] "" XXX
- SG_ CAN_OFF : 0|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_M_INV : 22|1@0+ (1,0) [0|255] "" XXX
- SG_ SET_M : 5|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_P : 4|1@0+ (1,0) [0|3] "" XXX
- SG_ RES_INV : 19|1@1+ (1,0) [0|3] "" XXX
- SG_ RES : 2|1@1+ (1,0) [0|3] "" XXX
+ SG_ BIT1 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT2 : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT3 : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_P_INV : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAN_OFF_INV : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAN_OFF : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_M_INV : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_M : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_P : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_INV : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES : 2|1@0+ (1,0) [0|1] "" XXX
 SG_ DISTANCE_LESS : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|31] "" XXX
- SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|3] "" XXX
+ SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|1] "" XXX
 SG_ DISTANCE_MORE_INV : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ MODE_Y : 13|1@1+ (1,0) [0|3] "" XXX
- SG_ MODE_X : 14|1@0+ (1,0) [0|255] "" XXX
- SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|3] "" XXX
- SG_ MODE_X_INV : 31|1@0+ (1,0) [0|3] "" XXX
- SG_ CTR : 29|4@0+ (1,0) [0|255] "" XXX
+ SG_ MODE_Y : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_X : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_X_INV : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR : 29|4@0+ (1,0) [0|15] "" XXX

 BO_ 154 BLINK_INFO: 8 XXX
 SG_ LEFT_BLINK : 18|1@1+ (1,0) [0|3] "" XXX
@@ -37,54 +37,52 @@ BU_: XXX X


 BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
 SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
 SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX

 BO_ 64 Throttle: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
 SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
 SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Combo : 48|7@1+ (1,0) [0|1] "" XXX
- SG_ Signal1 : 55|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 48|8@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 56|4@1+ (1,0) [0|255] "" XXX
 SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX

-BO_ 65 NEW_MSG_1: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
-
 BO_ 72 Transmission: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
+ SG_ RPM : 40|16@1+ (1,0) [0|255] "" XXX

-BO_ 316 NEW_MSG_3: 8 XXX
+BO_ 73 CVT: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ CVT_Gear : 24|8@1+ (1,0) [0|127] "" XXX
+
+BO_ 316 Brake_Status: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
+ SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX

 BO_ 326 Cruise_Buttons: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
 SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
- SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX

 BO_ 315 G_Sensor: 8 XXX
- SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
- SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
+ SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
+ SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX

 BO_ 314 Wheel_Speeds: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -94,26 +92,18 @@ BO_ 314 Wheel_Speeds: 8 XXX
 SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
 SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX

-BO_ 73 NEW_MSG_5: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
-
 BO_ 280 STOP_START: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
- SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
 SG_ State : 63|1@1+ (1,0) [0|1] "" XXX

 BO_ 281 Steering_Torque: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
- SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
 SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
 SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
+ SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
 SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX

@@ -126,8 +116,9 @@ BO_ 312 Brake_Pressure_L_R: 8 XXX
 BO_ 313 Brake_Pedal: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
- SG_ Signal1 : 12|22@1+ (1,0) [0|1] "" XXX
- SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|1] "" XXX
+ SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX
+ SG_ Brake_Lights : 34|1@1+ (1,0) [0|7] "" XXX
 SG_ Signal2 : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
 SG_ Signal3 : 48|16@1+ (1,0) [0|1] "" XXX
@@ -135,16 +126,9 @@ BO_ 313 Brake_Pedal: 8 XXX
 BO_ 290 ES_LKAS: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
 SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
 SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 722 NEW_MSG_10: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX

 BO_ 544 ES_Brake: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -152,66 +136,74 @@ BO_ 544 ES_Brake: 8 XXX
 SG_ Signal1 : 12|4@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
 SG_ Signal2 : 32|4@1+ (1,0) [0|1] "" XXX
- SG_ State : 36|4@1+ (1,0) [0|63] "" XXX
+ SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|63] "" XXX
+ SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 40|24@1+ (1,0) [0|1] "" XXX

 BO_ 545 ES_Distance: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ ES_Cruise_Throttle : 12|20@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|15] "" XXX
+ SG_ Signal2 : 28|4@1+ (1,0) [0|1] "" XXX
 SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal1 : 33|4@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
 SG_ Distance_Swap : 37|1@1+ (1,0) [0|15] "" XXX
- SG_ Signal2 : 38|2@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 48|8@1+ (1,0) [0|1] "" XXX
+ SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal4 : 59|5@1+ (1,0) [0|1] "" XXX
+ SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX

 BO_ 546 ES_Status: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX
 SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
- SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Lights : 30|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 554 ES_Blank: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
- SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 557 NEW_MSG_14: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX

 BO_ 576 CruiseControl: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal1 : 12|28@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal2 : 42|22@1+ (1,0) [0|3] "" XXX

-BO_ 577 NEW_MSG_16: 8 XXX
+BO_ 577 Cruise_Status: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Active : 57|4@1+ (1,0) [0|1] "" XXX

-BO_ 552 NEW_MSG_17: 8 XXX
+BO_ 552 BSD_RCTA: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX

 BO_ 912 Dashlights: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX
 SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX

 BO_ 940 BodyInfo: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
@@ -226,20 +218,29 @@ BO_ 940 BodyInfo: 8 XXX
 SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
 SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
 SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX

 BO_ 801 ES_DashStatus: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
 SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
 SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 14|10@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 25|3@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 33|2@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal5 : 37|3@1+ (1,0) [0|1] "" XXX
 SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
- SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal6 : 49|2@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Lights : 51|1@1+ (1,0) [0|3] "" XXX
 SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
 SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX

@@ -253,149 +254,43 @@ BO_ 802 ES_LKAS_State: 8 XXX
 SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
 SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Green : 29|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
- SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ Lead_Vehicle_Start_Alert : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Green : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Alert : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal3 : 36|28@1+ (1,0) [0|1] "" XXX

-BO_ 805 ES_NEW_MSG_22: 8 XXX
+BO_ 722 AC_State: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 808 NEW_MSG_23: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 837 NEW_MSG_24: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 838 NEW_MSG_25: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 842 NEW_MSG_26: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 915 NEW_MSG_27: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
-
-BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 816 NEW_MSG_29: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 826 NEW_MSG_30: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 839 NEW_MSG_31: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 2015 NEW_MSG_32: 8 XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 2024 NEW_MSG_33: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1632 NEW_MSG_36: 8 XXX
- SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
+ SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX
+ SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX

 BO_ 1677 Dash_State: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
 SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
- SG_ Icy_Road_Warning : 20|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1785 NEW_MSG_42: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 1759 NEW_MSG_43: 8 XXX
- SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 1786 NEW_MSG_44: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
-
-BO_ 1787 NEW_MSG_45: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
-
-
-

 CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
-CM_ SG_ 544 State "0 = ES disabled, 8 = ES enabled, 12, 13 = ES_Brake active";
-CM_ SG_ 545 ES_Cruise_Throttle "signal might be smaller, values do not correlate with Throttle:CruiseThrottle";
+CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
+CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
+CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
+CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
 CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
+CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
+CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
+CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
+CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
+CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
+CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+";
+CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)";
+CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert";
+CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
 CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
-CM_ SG_ 801 PCB_Off "Pre-Collision Braking";
-CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
-CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
-CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
-CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
-VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6" ;
+CM_ SG_ 1677 Units "AU/EU: 1 = imperial, 3 = metric US: 3 = imperial, 4 = metric";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
@@ -0,0 +1,266 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX 0
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+ SG_ Counter : 27|3@0+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
+ SG_ Lateral : 16|16@1- (0.0035,1) [0|65535] "" XXX
+ SG_ Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ Brake_Light : 21|1@1+ (1,0) [0|3] "" XXX
+ SG_ Speed_Counter : 32|8@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 321 Engine: 8 XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
+ SG_ SET_BUTTON : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ RES_BUTTON : 4|1@1+ (1,0) [0|3] "" XXX
+ SG_ Button : 13|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 49|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_On : 20|1@1+ (1,0) [0|7] "" XXX
+ SG_ DistanceSwap : 21|1@1+ (1,0) [0|3] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|7] "" XXX
+ SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|3] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 9|1@1+ (1,0) [0|3] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|65535] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 880 Steer_Torque_2: 8 XXX
+ SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|8500] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel__: 8 XXX
+
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|1] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 1745 Dash_State: 8 XXX
+  SG_ Units : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ Units2 : 15|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 355 ES_DashStatus: 8 XXX
+ SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 40|3@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 54|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 211 Brake_Pedal_On "high tolerance";
+CM_ SG_ 212 FL "KPH";
+CM_ SG_ 212 RL "KPH";
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body_ "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
+CM_ SG_ 353 Brake_On "long activatedish";
+CM_ SG_ 353 SET_1 "always 1";
+CM_ SG_ 353 SET_2 "";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
+CM_ SG_ 358 ES_Error "No engagement until restart";
+CM_ SG_ 358 Lead_Car "front car detected";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 359 Alerts "2 = lead beep";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+VAL_ 1745 Units 0 "Metric" 1 "Imperial";
+VAL_ 1745 Units2 0 "Metric 1 "Imperial";
@@ -37,41 +37,23 @@ BU_: XXX X


 BO_ 2 Steering: 8 XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
 SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
 SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX

 BO_ 64 Throttle: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
 SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
-
-BO_ 65 NEW_MSG_1: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX

 BO_ 72 Transmission: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
-
-BO_ 316 NEW_MSG_3: 8 XXX

 BO_ 326 Cruise_Buttons: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -83,8 +65,8 @@ BO_ 326 Cruise_Buttons: 8 XXX
 SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX

 BO_ 315 G_Sensor: 8 XXX
- SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
- SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
+ SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
+ SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX

 BO_ 314 Wheel_Speeds: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -94,31 +76,20 @@ BO_ 314 Wheel_Speeds: 8 XXX
 SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
 SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX

-BO_ 73 NEW_MSG_5: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
-
-BO_ 280 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
- SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
-
 BO_ 281 Steering_Torque: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
- SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
 SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
+ SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
 SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
- SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
- SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX

 BO_ 312 Brake_Pressure_L_R: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
- SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
 SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 313 Brake_Pedal: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -129,16 +100,9 @@ BO_ 313 Brake_Pedal: 8 XXX
 BO_ 290 ES_LKAS: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
 SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
 SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
- SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 722 NEW_MSG_10: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX

 BO_ 544 ES_Brake: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -161,40 +125,26 @@ BO_ 546 ES_Status: 8 XXX
 SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
 SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX

-BO_ 554 ES_Blank: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
- SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 557 NEW_MSG_14: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
 BO_ 576 CruiseControl: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX

-BO_ 577 NEW_MSG_16: 8 XXX
+BO_ 552 BSD_RCTA: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
-
-BO_ 552 NEW_MSG_17: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX

 BO_ 912 Dashlights: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX

 BO_ 940 BodyInfo: 8 XXX
 SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
@@ -216,7 +166,6 @@ BO_ 801 ES_DashStatus: 8 XXX
 SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
 SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
 SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
 SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
@@ -246,130 +195,14 @@ BO_ 802 ES_LKAS_State: 8 XXX
 SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
 SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX

-BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 808 NEW_MSG_23: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 837 NEW_MSG_24: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 838 NEW_MSG_25: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 842 NEW_MSG_26: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 915 NEW_MSG_27: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
-
-BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 816 NEW_MSG_29: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 826 NEW_MSG_30: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 839 NEW_MSG_31: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 2015 NEW_MSG_32: 8 XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 2024 NEW_MSG_33: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1632 NEW_MSG_36: 8 XXX
- SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
-
 BO_ 1677 Dash_State: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
 SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX

-BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 1785 NEW_MSG_42: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
-
-BO_ 1759 NEW_MSG_43: 8 XXX
- SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 1786 NEW_MSG_44: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
-
-BO_ 1787 NEW_MSG_45: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
-
-
-
-
-CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
-CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
 CM_ SG_ 801 Cruise_State "0 = Normal, 3 = Hold";
 CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
-CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
-CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
 CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
 VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
@@ -38,167 +38,126 @@ BU_: XXX 0

 BO_ 2 Steering: 8 XXX
 SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
- SG_ NEW_SIGNAL_6 : 24|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 22|3@0+ (1,0) [0|7] "" XXX
 SG_ Counter : 27|3@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 31|4@0- (1,0) [0|65535] "" XXX
 SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 208 G_Sensor: 8 XXX
- SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ _Latitudinal : 16|16@1- (0.0035,1) [0|65535] "" XXX
- SG_ _Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
 SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Lateral : 16|16@1- (0.0035,1) [0|65535] "" XXX
+ SG_ Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX

 BO_ 209 Brake_Pedal: 8 XXX
- SG_ NEW_SIGNAL_1 : 26|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 31|1@1+ (1,0) [0|255] "" XXX
- SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+ SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX

 BO_ 210 Brake_2: 8 XXX
- SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 46|1@1+ (1,0) [0|4294967295] "" XXX
- SG_ NEW_SIGNAL_2 : 37|3@1+ (1,0) [0|7] "" XXX

 BO_ 211 Brake_Type: 8 XXX
- SG_ NEW_SIGNAL_3 : 7|1@1+ (1,0) [0|4294967295] "" XXX
- SG_ NEW_SIGNAL_2 : 16|4@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Light : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 28|4@1+ (1,0) [0|15] "" XXX
 SG_ Speed_Counter : 32|8@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|3] "" XXX
 SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|3] "" XXX
 SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX

 BO_ 212 Wheel_Speeds: 8 XXX
- SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
 SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
 SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
 SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX

 BO_ 320 Throttle: 8 XXX
- SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
- SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 63|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 61|1@1+ (1,0) [0|3] "" XXX
- SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
 SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
+ SG_ Off_Throttle : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body_ : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX

 BO_ 321 Engine: 8 XXX
- SG_ NEW_SIGNAL_7 : 59|2@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_2 : 47|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
 SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
- SG_ NEW_SIGNAL_3 : 53|2@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 46|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_8 : 28|4@1+ (1,0) [0|15] "" XXX
- SG_ Engine_Stop : 15|1@1+ (1,0) [0|3] "" XXX
- SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX

 BO_ 324 CruiseControl: 8 XXX
 SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
 SG_ SET_BUTTON : 3|1@1+ (1,0) [0|3] "" XXX
 SG_ RES_BUTTON : 4|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 8|1@1+ (1,0) [0|255] "" XXX
 SG_ Button : 13|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_9 : 15|1@1+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,-124) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 24|5@1+ (1,0) [0|16777215] "" XXX
 SG_ Cruise_On : 48|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 49|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_6 : 50|1@1+ (1,0) [0|3] "" XXX
 SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|3] "" XXX

 BO_ 328 Transmission: 8 XXX
- SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
 SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
- SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
- SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_7 : 63|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 43|1@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 31|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX

 BO_ 329 CVT_Ratio: 8 XXX
- SG_ NEW_SIGNAL_4 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 8|4@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX

 BO_ 336 Brake_Pressure: 8 XXX
 SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX

 BO_ 338 Stalk: 8 XXX
- SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
- SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX
- SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
- SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
- SG_ brake_light : 52|1@1+ (1,0) [0|3] "" XXX
 SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 346 Counter_3: 8 XXX
- SG_ Counter : 0|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_1 : 20|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 57|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
+ SG_ Headlights : 59|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 60|1@1+ (1,0) [0|3] "" XXX
+ SG_ Wiper : 62|1@1+ (1,0) [0|3] "" XXX

 BO_ 352 ES_Brake: 8 XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX
+ SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
 SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
 SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 23|1@1+ (1,0) [0|3] "" XXX
- SG_ Brake_On : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ ES_Error : 21|1@1+ (1,0) [0|7] "" XXX
- SG_ Brake_Light : 20|1@1+ (1,0) [0|2047] "" XXX

 BO_ 353 ES_CruiseThrottle: 8 XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
- SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
- SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
- SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
- SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
- SG_ Unknown : 18|1@1+ (1,0) [0|7] "" XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Activated : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ Signal2 : 17|3@1+ (1,0) [0|3] "" XXX
 SG_ Brake_On : 20|1@1+ (1,0) [0|7] "" XXX
 SG_ DistanceSwap : 21|1@1+ (1,0) [0|3] "" XXX
- SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
- SG_ SET_0_1 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal3 : 23|1@1+ (1,0) [0|7] "" XXX
 SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
- SG_ SET_0_2 : 51|5@1+ (1,0) [0|31] "" XXX
- SG_ SET_0_3 : 47|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_0_4 : 43|1@1+ (1,0) [0|3] "" XXX
- SG_ SET_1 : 23|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 19|1@1+ (1,0) [0|1] "" XXX
- SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
- SG_ SET_2 : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ Cruise_Activatedish : 16|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_9 : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
+ SG_ Standstill_2 : 41|1@1+ (1,0) [0|3] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal5 : 43|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter : 44|3@1+ (1,0) [0|15] "" XXX
+ SG_ Signal6 : 47|1@1+ (1,0) [0|3] "" XXX
+ SG_ Button : 48|3@1+ (1,0) [0|3] "" XXX
+ SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX

 BO_ 354 ES_RPM: 8 XXX
- SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
- SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
 SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Activated : 9|1@1+ (1,0) [0|3] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
 SG_ Checksum : 32|8@1+ (1,0) [0|65535] "" XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX

 BO_ 356 ES_LKAS: 8 XXX
- SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
 SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 358 ES_DashStatus: 8 XXX
 SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
@@ -206,136 +165,80 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX
 SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Untitled_Blank_2 : 18|1@1+ (1,0) [0|3] "" XXX
 SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|3] "" XXX
 SG_ Driver_Input : 20|1@1+ (1,0) [0|15] "" XXX
+ SG_ Distance_Bars : 21|3@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
 SG_ ES_Error : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 35|1@1+ (1,0) [0|31] "" XXX
 SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
 SG_ Lead_Car : 46|1@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ Distance_Bars : 21|3@1+ (1,0) [0|3] "" XXX
- SG_ Untitled_Blank_2 : 18|1@1+ (1,0) [0|3] "" XXX
 SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
 SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
+ SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
 SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
 SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
- SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Alerts : 48|5@1+ (1,0) [0|3] "" XXX
- SG_ LKAS_Active : 37|1@1+ (1,0) [0|3] "" XXX
- SG_ Sig1All_Depart : 31|1@1+ (1,0) [0|15] "" XXX
- SG_ Sig2All_Depart : 28|1@1+ (1,0) [0|3] "" XXX
- SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
- SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
-
-BO_ 392 Counter_0: 8 XXX
- SG_ Counter : 16|4@1+ (1,0) [0|15] "" XXX
-
-BO_ 554 NEW_MSG_3: 8 XXX
- SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
-
-BO_ 640 NEW_MSG_10: 8 XXX
- SG_ NEW_SIGNAL_6 : 0|1@1+ (1,0) [0|7] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 33|2@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_7 : 38|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5 : 39|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 53|2@1+ (1,0) [0|15] "" XXX

 BO_ 642 Dashlights: 8 XXX
- SG_ NEW_SIGNAL_2 : 32|1@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 34|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
- SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX
- SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
 SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 644 NEW_MSG_8: 8 XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|3] "" XXX

 BO_ 880 Steer_Torque_2: 8 XXX
 SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 8|1@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 30|1@1+ (1,0) [0|3] "" XXX
 SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
 SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 48|4@1- (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_4_2017 : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_5_2017 : 54|1@1+ (1,0) [0|3] "" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX
 SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX
 SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|-8500] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|8500] "" XXX
 SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

-BO_ 882 Counter: 8 XXX
- SG_ Something : 16|2@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 12|4@1+ (1,0) [0|31] "" XXX
-
 BO_ 884 BodyInfo: 8 XXX
- SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
- SG_ _UNKNOWN : 0|3@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX

 BO_ 864 Engine_Temp: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 44|1@1+ (1,0) [0|3] "" XXX
- SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
 SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
 SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
-
-BO_ 865 NEW_MSG_16: 8 XXX
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 12|1@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 866 Fuel__: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 24|1@1+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|16777215] "" XXX

-BO_ 872 NEW_MSG_15: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|65535] "" XXX
+BO_ 604 BSD_RCTA: 8 XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|1] "" XXX
+ SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX

-BO_ 977 NEW_MSG_12: 8 XXX
- SG_ NEW_SIGNAL_1 : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 16|12@1+ (1,0) [0|255] "" XXX
+BO_ 1745 Dash_State: 8 XXX
+  SG_ Units : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ Units2 : 15|1@1+ (1,0) [0|1] "" XXX

-BO_ 1632 Huge_Counter: 8 XXX
- SG_ Counter : 55|16@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1745 NEW_MSG_11: 8 XXX
- SG_ NEW_SIGNAL_1 : 24|6@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 40|6@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 0|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 1786 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_2 : 8|16@1+ (1,0) [0|15] "" XXX
- SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
-
-
-
-
-CM_ SG_ 2 NEW_SIGNAL_1 "";
 CM_ SG_ 211 Brake_Pedal_On "high tolerance";
 CM_ SG_ 212 FL "KPH";
 CM_ SG_ 212 RL "KPH";
@@ -347,7 +250,6 @@ CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow,
 CM_ SG_ 353 Brake_On "long activatedish";
 CM_ SG_ 353 SET_1 "always 1";
 CM_ SG_ 353 SET_2 "";
-CM_ SG_ 353 NEW_SIGNAL_9 "flipped around quick engagement";
 CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
 CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
 CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
@@ -362,10 +264,14 @@ CM_ SG_ 359 Alerts "2 = lead beep";
 CM_ SG_ 359 Sig1All_Depart "Left and right depart";
 CM_ SG_ 359 Sig2All_Depart "Left and right depart";
 CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
+CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
+CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
+CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
 CM_ SG_ 642 Counter "Affected by signals";
 CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
-CM_ SG_ 642 SEATBELT_FL "";
+CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
 CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
-CM_ SG_ 880 NEW_SIGNAL_1 "0 in 2017";
-CM_ SG_ 880 NEW_SIGNAL_4_2017 "1 in 2017";
-CM_ SG_ 880 NEW_SIGNAL_5_2017 "1 in 2017";
+VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
+VAL_ 1745 Units 0 "Metric" 1 "Imperial";
+VAL_ 1745 Units2 0 "Metric 1 "Imperial";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -111,12 +111,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -179,10 +179,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -336,6 +337,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -111,12 +111,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -179,10 +179,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -336,6 +337,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -382,7 +385,6 @@ 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
 SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
 SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
@@ -391,6 +393,9 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX

 BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -94,12 +94,12 @@ BO_ 180 SPEED: 8 XXX
 SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 353 DSU_SPEED: 8 XXX
+BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
- 
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- 
+
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -162,10 +162,11 @@ BO_ 835 ACC_CONTROL: 8 DSU
 SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
 SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
 SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
 SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX

 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -319,6 +320,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
 CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
 CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -702,36 +702,58 @@ BO_ 1088 Getriebe_1: 8 XXX
 SG_ Status_Getriebe_und_Wandlerschu : 1|1@1+ (1,0) [0|0] "" XXX
 SG_ Schaltung_aktiv__Getriebe_1_ : 0|1@1+ (1,0) [0|0] "" XXX

-BO_ 912 Gateway_Komfort_1: 6 XXX
- SG_ Bremslicht_Anhaenger : 47|1@1+ (1,0) [0|0] "" XXX
- SG_ Anhaenger_erkannt_Gateway : 46|1@1+ (1,0) [0|0] "" XXX
- SG_ ECD_AAG_unplausibel : 45|1@1+ (1,0) [0|0] "" XXX
- SG_ BLS_AAG_unplausibel : 44|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Anhaenger : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ Frei_Gateway_Komfort_1_4 : 34|6@1+ (1,0) [0|0] "" XXX
- SG_ ECD_ILM_unplausibel : 33|1@1+ (1,0) [0|0] "" XXX
- SG_ BLS_ILM_unplausibel : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslicht_mitte_defekt : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslicht_rechts_defekt : 30|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslicht_links_defekt : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ Rueckfahrlicht_Gateway : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Bremslicht : 24|4@1+ (1,0) [0|15] "" XXX
- SG_ Frei_Gateway_Komfort_1_3 : 17|7@1+ (1,0) [0|0] "" XXX
- SG_ Fahrertuerkontakt : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ RDK_Systemfehler : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ RDK_Warnstufe_1 : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ RDK_Warnstufe_2 : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_Reserverad : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_hinten_recht : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_hinten_links : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_vorn_rechts : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_vorn_links : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Gateway_Komfort_1_2 : 5|3@1+ (1,0) [0|0] "" XXX
- SG_ Fahrertuerkontakt_veraltet : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Gateway_Komfort_1_1 : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Licht_1_Botschaft_veraltet : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Anhaenger_Botschaft_veraltet : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_veraltet : 0|1@1+ (1,0) [0|0] "" XXX
+BO_ 912 Gate_Komf_1: 8 XXX
+ SG_ GK1_Sta_RDK_Warn : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Anhaen : 1|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Licht3 : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Tuerkont : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Li_vorn : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_SleepAckn : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_CharismaModus m1 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ GK1_SamFktNr M : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ GK1_Fa_Tuerkont : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_RueckfahrSch : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_ELV_verrieg : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Kessy_2 : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Stdhzg : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_SH_Verbau : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_ParkFrontWi : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_KW_Warm : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ BCM_Remotestart_Betrieb : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Rueckfahr : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BrLi_links : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BrLi_rechts : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BrLi_mitte : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BLS_ILM : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_EDC_ILM : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Blinker_li : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Blinker_re : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_def_P_verr : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_LS1_Fernlicht : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Licht2 : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_LSM : 39|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Count_Anhaen : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ GK1_BLS_AAG : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_EDC_AAG : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Anhaenger : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BrLi_Anhaen : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Abblendlicht : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Fernlicht : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Wischer_vorn : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_ILM_F_1 : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Abbl_VL_def : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Abbl_VR_def : 53|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Blink_Autob : 54|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Warnblk_Status : 55|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_SH_laeuft : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ SH1_ein_Wasserpumpe : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Nebel_ein : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Bremslicht : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Anh_abgesteckt : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_AnhKonLamp : 61|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDS_Stellung_AFL : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_SH_Zusatzfkt : 63|1@1+ (1,0) [0|1] "" XXX

 BO_ 1340 Fahrwerk_1: 1 XXX
 SG_ Frei_Fahrwerk_1_2 : 7|1@1+ (1,0) [0|0] "" XXX
@@ -1040,11 +1062,338 @@ BO_ 1324 ADR_1: 8 XXX
 SG_ Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX

-BO_ 210 PQ_HCA: 8 XXX
- SG_ HCA_Torque : 16|15@1+ (1,0) [0|32767] "" XXX
- SG_ UNK_Bit : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ HCA_Torque_VZ : 31|1@0+ (1,0) [0|1] "" XXX
- SG_ PQ_HCA_BZ : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ PQ_HCA_Checksum : 0|4@1+ (1,0) [0|15] "" XXX
+BO_ 1550 Einheiten_1: 2 XXX
+ SG_ MFA_v_Einheit_02 : 0|1@1+ (1,0) [0|1] "" XXX

-BO_ 1490 VIN_1: 8 XXX
+BO_ 872 ACC_System: 8 XXX
+ SG_ ACS_Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ ACS_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ ACS_Sta_ADR : 12|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACS_ADR_Schub : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_Schubabsch : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_StSt_Info : 16|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACS_MomEingriff : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_Typ_ACC : 19|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACS_FreigSollB : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
+ SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_zul_Regelabw : 40|8@1+ (1,0.005) [0|1.265] "Unit_MeterPerSeconSquar" XXX
+ SG_ ACS_max_AendGrad : 48|8@1+ (1,0.02) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
+
+BO_ 1386 ACC_GRA_Anziege: 8 XXX
+ SG_ ACA_Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX
+ SG_ ACA_Fahrerhinw : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_AnzDisplay : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Zeitluecke : 18|4@1+ (1,0) [0|15] "" XXX
+ SG_ ACA_V_Wunsch : 24|8@1+ (1,0) [0|255] "Unit_KiloMeterPerHour" XXX
+ SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_PrioDisp : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACA_ID_StaGRA : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ ACA_Codierung : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Tachokranz : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Aend_Zeitluecke : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Zaehler : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 208 Lenkhilfe_3: 8 XXX
+ SG_ LH3_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ LH3_BS_Spiegel : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH3_Zaehler : 12|4@4+ (1,0) [0|15] "" XXX
+ SG_ LH3_LM : 16|10@1+ (1,0) [0|1023] "" XXX
+ SG_ LH3_LMSign : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH3_LMValid : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH3_Sta_DSR : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH3_BLW : 32|12@1+ (0.15,0) [0|615] "" XXX
+ SG_ LH3_BLWSign : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH3_BLWValid : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH3_Lenkungstyp : 46|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 978 Lenkhilfe_2: 8 XXX
+ SG_ LH2_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ LH2_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH2_Geradeaus : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH2_Sta_Charisma : 13|3@1+ (1,0) [0|7] "" XXX
+ SG_ LH2_Sta_HCA : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH2_Ausg_LW1 : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH2_Ausg_LW1_gue : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH2_StatEPS_PLA : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH2_aktLenkeingriff : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ LH2_PLA_Err : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH2_PLA_Abbr : 52|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 210 HCA_1: 5 XXX
+ SG_ HCA_Checksumme : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ HCA_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ HCA_Status : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ LM_Offset : 16|15@1+ (0.03125,0) [0|300] "cNm" XXX
+ SG_ LM_OffSign : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Vib_Freq : 32|4@1+ (4,0) [0|60] "Hz" XXX
+ SG_ Vib_Amp : 36|4@1+ (0.5,0) [0|7.5] "Nm" XXX
+
+BO_ 1470 LDW_1: 8 XXX
+ SG_ Right_Lane_Status : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ Left_Lane_Status : 2|2@1+ (1,0) [0|3] "" XXX
+ SG_ LDW_Direction : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X1 : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ Kombi_Lamp_Orange : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ Kombi_Lamp_Green : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ XX_LDW_Maybe_Warning : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ XX_DLCORTLC1 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ XX_DLCORTLC2 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 428 Bremse_8: 8 XXX
+ SG_ BR8_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ BR8_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ BR8_Sta_ACC_Anf : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Verz_EPB_akt : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Sta_Br_temp : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Sta_Br_Druck : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_TolAbgl_HL : 16|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX
+ SG_ BR8_TolAbgl_HR : 24|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX
+ SG_ BR8_Istbeschl : 32|9@1+ (0.02,-7.22) [-7.22|2.98] "Unit_MeterPerSeconSquar"  XXX
+ SG_ BR8_Sta_HW_BLS : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_QB_LBeschl : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_ESC_Mode : 43|2@1+ (1,0) [0|3] "" XXX
+ SG_ BR8_aktBrSyst : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Fa_bremst : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_StaBrSyst : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Laengsbeschl : 48|10@1+ (0.03125,-16) [-15.96875|15.9375] "Unit_MeterPerSeconSquar" XXX
+ SG_ BR8_Sta_ADR_BR : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Quattro : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Sta_VerzReg : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Sta_BLS : 61|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Verz_EPB : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Check_EPB : 63|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 928 Bremse_10: 8 XXX
+  SG_ B10_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
+  SG_ B10_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+  SG_ B10_QB_Wegimp_VL : 12|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Wegimp_VR : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Wegimp_HL : 14|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Wegimp_HR : 15|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Wegimp_VL : 16|10@1+ (1,0) [0|1000] "" XXX
+  SG_ B10_Wegimp_VR : 26|10@1+ (1,0) [0|1000] "" XXX
+  SG_ B10_Wegimp_HL : 36|10@1+ (1,0) [0|1000] "" XXX
+  SG_ B10_Wegimp_HR : 46|10@1+ (1,0) [0|1000] "" XXX
+  SG_ B10_QB_Fahrtr_VL : 56|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Fahrtr_VR : 57|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Fahrtr_HL : 58|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Fahrtr_HR : 59|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Fahrtr_VL : 60|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Fahrtr_VR : 61|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Fahrtr_HL : 62|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Fahrtr_HR : 63|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 835 RDK_Status: 3 XXX
+  SG_ RKS_Reifen_VL : 0|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Reifen_VR : 1|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Reifen_HL : 2|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Reifen_HR : 3|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Reifen_RR : 4|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Warnung_2 : 5|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Warnung_1 : 6|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Systemfehler : 7|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Kalibrier_abgew : 8|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Druckdiff_Vorn : 9|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Druckdiff_Hinten : 10|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Befuellung_RR_low : 11|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Funkstoerung : 12|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_System_Aus : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_KD_Fehler : 15|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Lampe : 16|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Ton : 17|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Gong : 18|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_RDK_Blinkbit : 19|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Teillast : 20|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 914 Gate_Komf_2: 8 XXX
+  SG_ GK2_Sta_LSM : 0|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Lichtsensor : 1|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_VSG : 3|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Schluessel : 4|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Profil : 5|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Clima2 : 6|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_BSG4 : 7|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Kessy_4 : 8|1@1+ (1,0) [0|1] "" XXX
+  SG_ BS4_Gleitende_Leuchtw_Anf : 9|1@1+ (1,0) [0|1] "" XXX
+  SG_ BS4_GLW_Fernlicht_Anf : 10|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Blk_L_Kontrolle : 11|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Blk_R_Kontrolle : 12|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_LS_KomFehler : 14|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_LS_def : 15|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Helligkeit : 16|3@1+ (714.286,0) [0|5000.002] "Unit_Lux" XXX
+  SG_ GK2_VD_zu_ver : 19|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_VD_entriegelt : 20|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_VD_offen_ver : 21|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Verdeck_Anf : 22|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_VDKD_auf : 23|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Schluessel : 24|4@1+ (1,0) [0|15] "" XXX
+  SG_ GK2_Hardtop : 28|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_AFL_Schalter : 29|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Nebelschluss : 30|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_EM_LIN_ungueltig : 31|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Profil : 32|4@1+ (1,0) [0|15] "" XXX
+  SG_ GK2_Kl_StSt_Info : 36|2@1+ (1,0) [0|3] "" XXX
+  SG_ GK2_BSG_StSt_Info : 38|2@1+ (1,0) [0|3] "" XXX
+  SG_ GK2_BEM_P_Generator : 40|8@1+ (50,0) [0|12700] "Unit_Watt" XXX
+  SG_ GK2_BEM_Abschaltstufen : 48|3@1+ (1,0) [0|7] "" XXX
+  SG_ GK2_BEM_DFM : 51|5@1+ (3.225,0.025) [0.025|100] "Unit_PerCent" XXX
+  SG_ GK2_Kessy_StSt_Info : 56|2@1+ (1,0) [0|3] "" XXX
+  SG_ GK2_BEM_StSt_Info : 58|2@1+ (1,0) [0|3] "" XXX
+
+ BO_ 1175 Parkhilfe_01: 8 XXX
+  SG_ PH_Abschaltursache : 13|3@1+ (1,0) [0|7] "" XXX
+  SG_ PH_Opt_Anzeige_V_ein : 16|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Opt_Anzeige_H_ein : 17|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Opt_Anz_V_Hindernis : 18|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Opt_Anz_H_Hindernis : 19|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Tongeber_V_aktiv : 20|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Tongeber_H_aktiv : 21|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Tongeber_mute : 22|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Anf_Audioabsenkung : 23|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Frequenz_hinten : 32|4@1+ (1,0) [0|15] "" XXX
+  SG_ PH_Lautstaerke_hinten : 36|4@1+ (1,0) [0|15] "" XXX
+  SG_ PH_Frequenz_vorn : 40|4@1+ (1,0) [0|15] "" XXX
+  SG_ PH_Lautstaerke_vorn : 44|4@1+ (1,0) [0|15] "" XXX
+  SG_ PH_Trigger_Bildaufschaltung : 48|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_StartStopp_Info : 49|2@1+ (1,0) [0|3] "" XXX
+  SG_ PH_Aufbauten_erk : 51|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_BerErk_vorn : 52|2@1+ (1,0) [0|3] "" XXX
+  SG_ PH_BerErk_hinten : 54|2@1+ (1,0) [0|3] "" XXX
+  SG_ PH_defekt : 56|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_gestoert : 57|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Systemzustand : 58|3@1+ (1,0) [0|7] "" XXX
+  SG_ PH_Display_Kundenwunsch : 61|2@1+ (1,0) [0|3] "" XXX
+  SG_ PH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 1463 Bremse_11: 8 XXX
+  SG_ B11_HydHalten : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ B11_Br_StSt_Info : 14|2@1+ (1,0) [0|3] "" XXX
+  SG_ B11_OBD_Nib_VL : 16|4@1+ (1,0) [0|15] "" XXX
+  SG_ B11_OBD_Nib_VR : 20|4@1+ (1,0) [0|15] "" XXX
+  SG_ B11_OBD_Nib_HL : 24|4@1+ (1,0) [0|15] "" XXX
+  SG_ B11_OBD_Nib_HR : 28|4@1+ (1,0) [0|15] "" XXX
+  SG_ B11_EPB_Steller_akt : 32|1@1+ (1,0) [0|1] "" XXX
+  SG_ B11_EPB_Steller_gue : 33|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 1500 Soll_Verbauliste_neu: 8 XXX
+  SG_ VL1_Motor_SG : 0|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Getr_SG : 1|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_ABS : 2|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Kombi : 3|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_LSM : 4|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Airbag : 5|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Lenkhilfe : 6|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_dyn_LWR : 7|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_res_08 : 8|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Allrad : 9|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_ADR : 10|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_ADR_getrennt : 11|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_EPB : 12|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_res_13 : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Daempfer : 14|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Quersperre : 15|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_MotorSlave : 16|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_SWA : 17|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_HCA : 18|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_RKA_Plus : 19|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_PLA : 20|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_WFS_KBI : 21|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Kombi_KBI : 22|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Soll_eq_Ist : 23|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_BSG_Komf : 24|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_ZKE : 25|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TSG_FT : 26|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TSG_BT : 27|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TSG_HL : 28|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TSG_HR : 29|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Memory : 30|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Dachmodul_K : 31|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Zentralelektrik_II : 32|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_RDK : 33|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Lenksaeule : 34|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Gateway : 35|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Clima_Komf : 36|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Einparkhilfe : 37|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_PTC_Heizung : 38|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Standheiz : 39|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Verdeck : 40|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_RSE_I : 41|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_res_42 : 42|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_MDI_I : 43|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Anhaenger : 44|1@1+ (1,0) [0|1] ""  SWA
+  SG_ VL1_Memory_BF : 45|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Easy_Entry_VF : 46|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Easy_Entry_VB : 47|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Heckdeckel : 48|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Rearview : 49|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Sonderfzg_SG : 50|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Tastenmodul : 51|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Kompass : 52|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_WFS_K : 53|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_GSM_Pager : 54|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_InfoElektronik : 55|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_DSP : 56|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_DAB : 57|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Telematik : 58|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Navigation : 59|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TV_Tuner : 60|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Neigungsmodul_I : 61|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Radio : 62|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Telefon : 63|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 1490 Ident: 8 XXX
+  SG_ IDT_Mux M : 0|2@1+ (1,0) [0|2] "" XXX
+  SG_ IDT_Geheimnis_1 m0 : 8|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_4 m1 : 8|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_11 m2 : 8|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_Geheimnis_2 m0 : 16|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_5 m1 : 16|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_12 m2 : 16|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_Geheimnis_3 m0 : 24|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_6 m1 : 24|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_13 m2 : 24|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_Geheimnis_4 m0 : 32|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_7 m1 : 32|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_14 m2 : 32|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_1 m0 : 40|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_8 m1 : 40|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_15 m2 : 40|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_2 m0 : 48|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_9 m1 : 48|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_16 m2 : 48|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_3 m0 : 56|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_10 m1 : 56|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_17 m2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 2000 Diagnose_1: 8 XXX
+ SG_ DI1_VerlernZaehl : 0|8@1+ (1,0) [0|254] "" XXX
+ SG_ DI1_km_Stand : 8|20@1+ (1,0) [0|1048575] "Unit_KiloMeter" XXX
+ SG_ DI1_Jahr : 28|7@1+ (1,2000) [2000|2127] "Unit_Year" XXX
+ SG_ DI1_Monat : 35|4@1+ (1,0) [1|12] "Unit_Month" XXX
+ SG_ DI1_Tag : 39|5@1+ (1,0) [0|31] "Unit_Day" XXX
+ SG_ DI1_Stunde : 44|5@1+ (1,0) [0|23] "Unit_Hours" XXX
+ SG_ DI1_Minute : 49|6@1+ (1,0) [0|59] "Unit_Minut" XXX
+ SG_ DI1_Sekunde : 55|6@1+ (1,0) [0|59] "Unit_Secon" XXX
+ SG_ DI1_KM_Stand_alt : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ DI1_Zeit_alt : 63|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 210 LM_Offset "centiNewton-meters for ease of calculation without FP math in Panda";
+CM_ SG_ 210 Vib_Amp "Steering wheel haptic, amplitude";
+CM_ SG_ 210 Vib_Freq "Steering wheel haptic, frequency";
+CM_ SG_ 1386 ACA_V_Wunsch "255=unset";
+CM_ SG_ 1470 LDW_Direction "0=right,1=left";
+CM_ SG_ 1470 XX_DLCORTLC1 "Might be DLC or TLC";
+CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size";
+CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
+
+VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U";
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Rick Lan	e323b8ef0e	dragonpilot 0.7.6.1 ======================== * Based on latest openpilot 0.7.6.1 devel. * Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings) * Completely disabled steer ratio learner. * Removed Accel Profile. * Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿) * Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)	2020-07-06 20:58:16 +10:00
Willem Melching	9e7fb4680d	Revert "add wrong neos version alert (#1725 )" This reverts commit `9ff1fb48de`.	2020-06-19 16:50:38 -07:00
Willem Melching	40982f18ab	update affected order numbers	2020-06-16 13:42:35 -07:00
Willem Melching	4d47e1243d	hotfix release: 0.7.6.1 (#1727 ) * neos update with just kernel * Bump version and update release notes * Only add neos update, no other stuff	2020-06-16 13:39:29 -07:00
Willem Melching	9ff1fb48de	add wrong neos version alert (#1725 )	2020-06-16 12:49:38 -07:00
Willem Melching	51aa86da12	run deleter when offroad	2020-06-05 15:02:26 -07:00
Willem Melching	6e00ef601d	boardd: no conflate on sendcan (#1645 )	2020-06-05 15:01:59 -07:00
Adeeb	db7ea2a599	fix speed too low (#1628 )	2020-06-02 18:40:39 -07:00
Willem Melching	682dc5ddad	speedTooHigh should not be an immediate disable	2020-06-01 17:13:13 -07:00
Willem Melching	3b62a21fa7	Fix low speed engage on stop and go Hondas (#1613 ) * fix low speed engage on stop and go Hondas * update ref commit	2020-06-01 10:15:03 -07:00
Jafar Al-Gharaibeh	ffe062c774	Mazda: Slower rate for ACC cancel msg to avoid cruise disable (#1615 ) * Slower rate for ACC cancel msg to avoid cruise disable Sending ACC cancel message at 10hz may end up disabling main cruise state. That is because stoc ACC use the same signal for both functions. If cruise is already enabled the signal canceles it, otherwise cruise is disabled. 10hz seems to be still fast in some cases not allowing the state to sync up between OP and the Stock state. 5hz avoids that issue. Also, the resume message was also updated to 5hz as that seems to work better as well. Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com> * Round up 27.96 to 28mph Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>	2020-06-01 10:08:14 -07:00
Vehicle Researcher	4fd2b0e730	openpilot v0.7.6 release	2020-05-31 13:22:49 -07:00
Vehicle Researcher	2d659de09c	Merge opendbc subtree	2020-05-31 13:22:45 -07:00
Vehicle Researcher	35bd9d9fb3	Squashed 'opendbc/' changes from f1e69a6cf..e92e74311 e92e74311 whitespace after comma 5d33ec0f1 two spaces before inline comment 73685b609 fix linter complaint about whitespace around operators b15edbc1b fix linter complaint about inline comment whitespace 4ac30725b clean up blank lines 0430bfa5c run pre commit in ci (#268) 2ade6eeba Subaru DBC update (#242) d1185a53e Toyota ACC_CONTROL PERMIT_BRAKING and ACCEL_CMT_ALT speculated definition (#258) e6766bbbb Update SCC ECU Messages for OP Long Dev. (#267) b49b9ee75 Add DAW (#175) 3b5cccba0 Fixed up cell voltage readings and added more commands (#220) 8b0449327 Mazda: add missing static bits, tidy up endianness (#263) 124719992 Add BSD_RCTA to Subaru Global (#244) af1821f84 fix endianness in signal from new hyundai message 7ef41084b Add gas/brake message for hyundai EVs, from @TK211X 472aabb4f Subaru preglobal update (#260) 45c0d9ecc fix lta message (#262) 11343c108 Library cleanup (#261) 67d70cb86 Fix Toyota message size git-subtree-dir: opendbc git-subtree-split: e92e74311a7ed66922629bec4b8cee7c8db1b9f0	2020-05-31 13:22:45 -07:00
Vehicle Researcher	f878928731	Merge panda subtree	2020-05-31 13:22:43 -07:00
Vehicle Researcher	771a8b7a55	Squashed 'panda/' changes from 869f12321..49ffbe99f 49ffbe99f disable non-universal checks in hyundai safety 3a85f4c25 use whole route when running safety replay from CLI 098f47a5b Fix leaf brake rx check (#547) b8267341a Add pre commit checks + CI (#545) 339976c3c document tx message addresses better (#543) a618e64d1 fix typing errors 9bece64e8 use mazda init 08db086d5 mazda cleanup 89658d0bd Mazda: safety tests add missing safety checks (#525) bdec1398e Fix length of 0x20b in NISSAN_TX_MSGS, wasn't cancelling ACC (#544) b48c74c2e Adding UNO to automated tests (#538) a5802cdd1 Hyundai: remove unused message from RX checks 9ebde2535 Reset state on safety mode init (#542) d4f3f15c3 Refactor addr check (#541) 5210e51b8 remove unused files 065706459 Hyundai checksum (#540) 07e668eca Fast CI (#539) 5307bf727 Fix multi message iso tp requests 0610ed1e2 Hyundai wheel speed counter is actually 4 bits spread over two signals 0d581aa5f dockerfile optimization eaefa2f6c fix docker file path 243a65f30 pull base image 0dd9470af only push to dockerhub from master 55b79b472 GitHub Actions (#535) b2c720bf4 Dos (#533) 01bf74024 remove 0x1BE checksum test 0bd06c9e0 remove 0x1BE check (breaks some vehicles) c31b899a5 honda bosch longitudinal safety 66250c41d Disable docker layer caching (#534) 6b19fa496 include nissan safety in release build db31886ad gate mazda safety behind debug flag e4558c073 Safety: message length check on RX and TX (#529) git-subtree-dir: panda git-subtree-split: 49ffbe99f65e64d23d27d9d3e37f68bc2368dccd	2020-05-31 13:22:43 -07:00
Vehicle Researcher	fcd5a66252	Merge cereal subtree	2020-05-31 13:22:41 -07:00
Vehicle Researcher	23bbf52578	Squashed 'cereal/' changes from 12aad06e1..286b7e58b 286b7e58b capitalize docker command 0adfc7e77 add canErrorPersistent event c8be73d10 use github url instead of gitlab mirror 8e2d212a3 add pre-commit static analysis (#48) f27222f8f add gpsOK flag to liveLocationKalman 4bb1eb826 submaster always conflates 30838d40a C++ implementation of SubMaster and PubMaster (#42) c1a6d75d1 Fix potential segfault in MSGQPubSocket::connect (#45) 67fae6afc Use ZMQ on MacOS (#46) 01cdf832c add default values for backwards compat c96381b0d add OK flags to locationd output d589d5e3d add white panda deprecation events 856c9812d mark unused car events as deprecated 4f68db8f6 remove unnecessary new event type 9073b9b1b Library cleanup (#43) 7a786d9ce move remaining alerts to car events d6f10a4b9 add alert event type git-subtree-dir: cereal git-subtree-split: 286b7e58b5e7ede697370acc77fc7cca21d69764	2020-05-31 13:22:40 -07:00
Willem Melching	abfe469d95	interrupt number different on EON	2020-05-12 15:15:27 -07:00