dragonpilot v2022.07.29 for EON/C2

2026-06-20 05:22:03 +08:00 · 2022-07-29 03:51:32 +00:00
512 changed files with 11629 additions and 116335 deletions
@@ -50,11 +50,11 @@ selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
-selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

 one
+/body/
 openpilot
 notebooks
 xx
@@ -83,5 +83,4 @@ build/

 !**/.gitkeep

-poetry.toml
-selfdrive/ui/_ui_nonav
+*.po~
@@ -1,84 +1,3 @@
-dragonpilot 2023.02.08 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.12.14 commits.
-* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
-* NEW: Lateral Controller Selector
-  * Ability to select between DEFAULT / PID / LQR / Torque Controller.
-* NEW: Redesigned UI to match Comma's new UI/UX style.
-* NEW: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
-* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
-* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
-* NEW: Always On Lateral v2 (For Toyota/VAG/HKG/Honda).
-* NEW: VAG - vw-spam-resume (Thanks to @jyoung8607)
-* FIXED: Bugs in updated.
-* FIXED: Issue in C2 fan control.
-* TWEAK: Bug fixes and improvement.
-
-dragonpilot 2022.11.09 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.10.26 commits.
-* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
-* NEW: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
-  * Ability to use MapD without internet connection.
-* NEW: TOYOTA - Better TSS2 Long and DF tune. @cgw1968-5779
-* NEW: MAZDA - Toggle to bypass dashcam mode.
-* NEW: Added lanelines mode.
-  * Ability to adjust camera/path offset.
-* NEW: Lateral Planner option.
-  * Ability to select 0.8.13, 0.8.16 and the latest/current planner.
-* NEW: Offline OSM map database.
-* NEW: Turn and BSM indicator. (turn = blink green, turn + bsm = blink yellow, bsm = solid yellow)
-* TWEAK: Better Optimization for Vision Turn Controller with laneline mode.
-* FIXED: When going offroad, the screen does not turn off. (w/ CP or w/ Battery)
-* bug fix and improvement.
-
-
-dragonpilot 2022.10.17 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.09.22 commits.
-  * Live Torque Tune (Only available to certain vehicle models with op long.)
-* NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
-* NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
-* NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
-* NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
-* NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
-* NEW: VAG - Added auto resume fix toggle.
-* NEW: refactored dynamic follow. support all car with op long.
-* NEW: New blinker and BSM indicators.
-* NEW: Lead Info is now displaying both speed and distance.
-* FIXED: Minor bug fixes and improvement.
-
-dragonpilot 2022.09.22 - EON/C2 Release
-========================
-* Synced with openpilot master 2022.09.17 commits.
-  * e2e longitudinal toggle. (Extremely alpha feature)
-  * Deprecated SNPE lib and switched to tinygrad.
-* NEW: Added back nav support on EON/C2.
-* WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
-  * WIP: Dynamic Follow has been temporary removed for refactoring.
-  * WIP: Vision Turn Control has been temporary removed for refactoring.
-  * REMOVED: Camera offset has been removed permanently due to new e2e implementation.
-  * EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
-
-dragonpilot 2022.08.29 - EON/C2 Release
-========================
-* NEW: Synced to openpilot master 2022.08.23 commits.
-  * New driving model.
-* NEW: Added back honda eps mod toggle.
-* NEW: Added back camera offset toggle.
-* TWEAK: Resume logic to adapt ATL mode.
-
-dragonpilot 2022.08.17 - EON/C2 Release
-========================
-* NEW: Synced to openpilot master 2022.08.07 commits.
-* NEW: Added back auto shutdown toggle.
-* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
-* NEW: Added back LQR tune toggle.
-* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
-* NEW: Included all vehicles.
-* TWEAK: Panda Recovery should kill boardd process first.
-* FIXED: Fixed stop working issue when mapd crashed.
-
 dragonpilot 2022.07.29 - EON/C2 Release
 ========================
 * NEW: Synced to openpilot 2022.07.27 commits.
@@ -89,134 +8,6 @@ dragonpilot 2022.07.29 - EON/C2 Release
 * FIXED: Fixed Panda Flash/Recovery buttons.
 * FIXED: Included dp_patcher.py execution.

-dragonpilot 2023.02.08
-=======================
-* Synced with openpilot master 2022.12.13 commits.
-* COMMA: New model, Toyota users can now configure SWAY settings.
-* ADDED: Dashcam for comma 3. Store in /data/media/0/video/ (@neokii)
-* ADDED: Better TSS2 Long and DF tune. @cgw1968-5779
-* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
-* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
-* Improvement: Dynamic end to end is much more reliable and smoother experience
-* Bug fixes and improvement.
-* Happy Holiday / New Years! Safe Travel, cya in 2023!
-
-dragonpilot [2022.11.25]
-=======================
-* Synced with openpilot master 2022.11.25 commits.
-* ADDED: Lateral Controller Selector.
-   - Ability to select between DEFAULT / PID / LQR / Torque Controller.
-* ADDED: Redesigned UI to match Comma's new UI/UX style.
-* ADDED: Dynamic End-to-End can be turned on when lead car is going below x km/h. (Useful for stop and go traffic.)
-* ADDED: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
-* ADDED: Toggle to adapt Dynamic End-to-End to Accel Mode.
-* bug fix and improvement.
-
-dragonpilot [2022.11.14]
-=======================
-* Synced with openpilot master 2022.11.14 commits.
-* COMMA: New Model.
-* COMMA: RAV4 TSS2 now uses PID.
-* REFACTORED: Turning off nav will free up some system resource. QR for nav has been move to home button / sidebar.
-* ADDED: 2 new toggle to turn on or off laneline / path and chevron.
-* ADDED: When reversing it will now show DM cam.
-
-dragonpilot [2022.11.01]
-=======================
-* Synced with openpilot master 2022.11.01 commits.
-* COMMA: New Model.
-* ADDED: Multi Lateral Planner: Ability to choose different Lateral Planner (0 = LATEST, 1 = 0.8.13, 2 = 0.8.16).
-* READD: Toyota Prius ZSS support.
-* Improvement: Better User experience for installing mapd database.
-* Improvement: Turning on Lane Line will automatically will use DLP (Dynamic Lane Profile).
-* bug fix and improvement
-
-dragonpilot [2022.10.26]
-=======================
-* Synced with openpilot master 2022.10.26 commits.
-* COMMA: Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models.
-* COMMA: New Model with much improved e2e long.
-* ADDED: Mapd Database selector menu to use mapd offline located in software. When installing Database it will take some time. It is not stuck just be patience run `tmux a` for more info. DO NOT RESTART When database is being installed.
-* ADDED: Better TSS2 Long and DF tune. @cgw1968-5779
-* ADDED: Toggle to bypass dashcam mode for Mazda.
-* Improvement: Dynamic End to End tune.
-* Improvement: Better Optimization for Vision Turn Controller with laneline mode.
-* bug fix and improvement
-
-dragonpilot [2022.10.18]
-=======================
-* Synced with openpilot master 2022.10.18 commits.
-* ADDED: Laneline toggle.
-* ADDED: Turn and BSM indicator. (turn = green, turn + bsm = yellow, bsm = red)
-* Improvement: Dynamic End to End tune.
-* bug fix and improvement
-
-
-dragonpilot [2022.10.04]
-=======================
-* Synced with openpilot master 2022.10.04 commits.
-* ADDED: Dynamic End to End long. For more detail read the setting description.
-* ADDED: Mpad now support's Stop Sign, Yield, Speed Bump, Sharp Curve. (For best experience map you area. https://www.openstreetmap.org/)
-* ADDED: Chevron can display either distance or speed.
-* ADDED: Toggles to force enabling torque control / torque tune for some vehicles
-* Improvement: Dynamic Follow, Toyota Longitudinal and Decel tune.
-* bug fix and improvement
-
-dragonpilot [2022.09.27]
-=======================
-* Synced with openpilot master 2022.09.27 commits.
-* ADDED: Always On Lateral toggle under dp-controls!
-* ADDED: Live torque fix pr#25868
-* ADDED: RAV4 and HIGHLANDER with sdsu can use follow distance button on the wheel.
-* bug fix and improvement
-
-dragonpilot [2022.09.19]
-========================
-* Synced with openpilot master 2022.09.19 commits.
-* READD: refactored dyanmaic follow. support all car with op long.
-* ADDED: PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
-* ADDED: Added a TSS2 RAV4 Special PID Tune toggle.
-* ADDED: Added a PRIUS 2017 Special Torque Tune toggle.
-* ADDED: Toggle to turn on and off Torque controller.
-* ADDED: Toggle to turn on and off auto tune torque controller.
-* ADDED: Vision Turn Controller.
-* bug fix and improvement
-
-dragonpilot [2022.09.09]
-========================
-* Synced with openpilot master 2022.09.09 commits.
-* ADDED: us-west coast can now use mapd without data. See toggle description for more detail.
-* READD: Temp check toggl e, max speed toggle and couple other UI toggles.
-* bug fix and improvement
-
-dragonpilot [2022.09.04]
-========================
-* Synced with openpilot master 2022.09.01 commits.
-* Refactor: Dynamic Follow has been removerd temporary. Needs a refactor. (wip)
-* ADDED: Auto Toyota door lock/unlock **only works on some car**
-* READDED: Camera offset toggle.
-* Improvement: gpxd now uses liveLocationKalman better performance.
-* bug fix and improvement.
-
-dragonpilot [2022.08.07]
-========================
-Synced to openpilot master 2022.08.07 commits.
-NEW: Added back auto shutdown toggle.
-NEW: Added back LQR tune toggle.
-NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
-TWEAKED: Panda Recovery should kill boardd process first.
-FIXED: Fixed stop working issue when mapd crashed.
-
-dragonpilot 2022.07.27
-========================
-NEW: Synced to openpilot 2022.07.27 commits.
-NEW: Included Mazda vehicles.
-TWEAK: Only show road name bar when it's not empty.
-TWEAK: Enlarged lead car distance text.
-TWEAK: TOYOTA - Updated lowest speed override feature.
-FIXED: Fixed Panda Flash/Recovery buttons.
-FIXED: Included dp_patcher.py execution.
-
 dragonpilot 2022.07.20 - EON/C2 Release
 ========================
 * FIXED: Included correct camera/path offset values for EON/C2.
@@ -241,24 +32,9 @@ dragonpilot 2022.07.12 - EON/C2 Release
 * Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
 * Buggy!

-dragonpilot [2022.08.07]
+dragonpilot 2022.06.25
 ========================
-* Synced to openpilot master 2022.08.07 commits.
-* NEW: Added back auto shutdown toggle.
-* NEW: Added back LQR tune toggle.
-* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
-* TWEAKED: Panda Recovery should kill boardd process first.
-* FIXED: Fixed stop working issue when mapd crashed.
-
-dragonpilot 2022.07.27
-========================
-* NEW: Synced to openpilot 2022.07.27 commits.
-* NEW: Included Mazda vehicles.
-* TWEAK: Only show road name bar when it's not empty.
-* TWEAK: Enlarged lead car distance text.
-* TWEAK: TOYOTA - Updated lowest speed override feature.
-* FIXED: Fixed Panda Flash/Recovery buttons.
-* FIXED: Included dp_patcher.py execution.
+* Synced with openpilot master 2022.07.26 commits.

 dragonpilot 2022.07.01
 ========================
@@ -17,7 +17,7 @@ Table of Contents
 What is openpilot?
 ------

-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).

 <table>
  <tr>
@@ -40,9 +40,9 @@ Running on a dedicated device in a car

 To use openpilot in a car, you need four things
 * A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
-* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
-The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
+* This software. The setup procedure of the comma three allows the user to enter a url for custom software.
+The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
+* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.

 We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
@@ -50,13 +50,13 @@ We have detailed instructions for [how to mount the device in a car](https://com
 Running on PC
 ------

-All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.
+All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.

-With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
+With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.

-You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
+You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.

-A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
+A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).

 Community and Contributing
 ------
@@ -78,8 +78,8 @@ By default, openpilot uploads the driving data to our servers. You can also acce

 openpilot is open source software: the user is free to disable data collection if they wish to do so.

-openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.

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

@@ -87,11 +87,11 @@ Safety and Testing
 ----

 * openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
-* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
+* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
 * The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
-* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
-* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
-* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.

 Directory Structure
@@ -119,7 +119,7 @@ Directory Structure
        ├── debug           # Tools to help you debug and do car ports
        ├── locationd       # Precise localization and vehicle parameter estimation
        ├── loggerd         # Logger and uploader of car data
-        ├── manager         # Daemon that starts/stops all other daemons as needed
+        ├── manager         # Deamon that starts/stops all other daemons as needed
        ├── modeld          # Driving and monitoring model runners
        ├── monitoring      # Daemon to determine driver attention
        ├── navd            # Turn-by-turn navigation
@@ -1,62 +1,5 @@
-Version 0.9.1 (2022-12-XX)
+Version 0.8.16 (2022-XX-XX)
 ========================
-* Adjust alert volume using ambient noise level
-* Removed driver monitoring timer resetting on interaction if face detected and distracted
-* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
-* Genesis GV60 2023 support thanks to sunnyhaibin!
-* Hyundai Tucson 2022-23 support
-* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-
-Version 0.9.0 (2022-11-21)
-========================
-* New driving model
-  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
-  * Less reliance on previous frames makes model more reactive and snappy
-  * Trained in new reprojective simulator
-  * Trained in 36 hours from scratch, compared to one week for previous releases
-  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
-* Experimental driving mode
-  * End-to-end longitudinal control
-  * Stops for traffic lights and stop signs
-  * Slows down for turns
-  * openpilot defaults to chill mode, enable experimental mode in settings
-* Driver monitoring updates
-  * New bigger model with added end-to-end distracted trigger
-  * Reduced false positives during driver calibration
-* Self-tuning torque controller: learns parameters live for each car
-* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
-* UI updates
-  * Matched speeds shown on car's dash
-  * Multi-language in navigation
-  * Improved update experience
-  * Border turns grey while overriding steering
-  * Bookmark events while driving; view them in comma connect
-  * New onroad visualization for experimental mode
-* tools: new and improved cabana thanks to deanlee!
-* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
-* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
-* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
-* Kia Sportage 2023 support thanks to sunnyhaibin!
-* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
-* Kia Stinger 2022 support thanks to sunnyhaibin!
-
-Version 0.8.16 (2022-08-26)
-========================
-* New driving model
-  * Reduced turn cutting
-* Auto-detect right hand drive setting with driver monitoring model
-* Improved fan controller for comma three
-* New translations
-  * Japanese thanks to cydia2020!
-  * Brazilian Portuguese thanks to AlexandreSato!
-* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
-* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
-* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
-* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
-* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
-* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
-* Subaru Legacy 2020-22 support thanks to martinl!
-* Subaru Outback 2020-22 support

 Version 0.8.15 (2022-07-20)
 ========================
@@ -115,7 +58,7 @@ Version 0.8.14 (2022-06-01)
 Version 0.8.13 (2022-02-18)
 ========================
 * Improved driver monitoring
-   * Re-tuned driver pose learner for relaxed driving positions
+   * Retuned driver pose learner for relaxed driving positions
   * Added reliance on driving model to be more scene adaptive
   * Matched strictness between comma two and comma three
 * Improved performance in turns by compensating for the road bank angle
@@ -261,7 +204,7 @@ Version 0.8.4 (2021-05-17)
 * Delay controls start until system is ready
 * Fuzzy car identification, enabled with Community Features toggle
 * Localizer optimized for increased precision and less CPU usage
- * Re-tuned lateral control to be more aggressive when model is confident
+ * Retuned lateral control to be more aggressive when model is confident
 * Toyota Mirai 2021 support
 * Lexus NX 300 2020 support thanks to goesreallyfast!
 * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
@@ -426,7 +369,7 @@ Version 0.7 (2019-12-13)
 * Improve GM longitudinal control: proper computations for 15Hz radar
 * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
 * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliance
+ * Refactor Panda code towards ISO26262 and SIL2 compliancy
 * Forward stock FCW for Honda Nidec
 * Volkswagen port now standard: comma Harness intercepts stock camera

@@ -1,21 +0,0 @@
-gen
-node_modules
-package-lock.json
-*.tmp
-*.pyc
-__pycache__
-.*.swp
-.*.swo
-*.os
-*.o
-*.a
-
-test_runner
-
-libmessaging.*
-libmessaging_shared.*
-services.h
-.sconsign.dblite
-libcereal_shared.*
-.mypy_cache/
-catch2/
@@ -17,8 +17,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  immediateDisable @6 :Bool;
  preEnable @7 :Bool;
  permanent @8 :Bool; # alerts presented regardless of openpilot state
-  overrideLateral @10 :Bool;
-  overrideLongitudinal @9 :Bool;
+  override @9 :Bool;

  enum EventName @0xbaa8c5d505f727de {
    canError @0;
@@ -34,9 +33,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    buttonCancel @11;
    buttonEnable @12;
    pedalPressed @13;  # exits active state
-    preEnableStandstill @73;  # added during pre-enable state with brake
+    pedalPressedPreEnable @73;  # added during pre-enable state for either pedal
    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
-    steerOverride @114;
    cruiseDisabled @14;
    speedTooLow @17;
    outOfSpace @18;
@@ -46,6 +44,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    controlsMismatch @22;
    pcmEnable @23;
    pcmDisable @24;
+    noTarget @25;
    radarFault @26;
    brakeHold @28;
    parkBrake @29;
@@ -65,7 +64,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    lowBattery @48;
    vehicleModelInvalid @50;
    accFaulted @51;
-    accFaultedTemp @115;
    sensorDataInvalid @52;
    commIssue @53;
    commIssueAvgFreq @109;
@@ -113,11 +111,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    lkasDisabled @107;
    canBusMissing @111;
    controlsdLagging @112;
-    resumeBlocked @113;

    #dp
-    speedLimitActive @116;
-    speedLimitValueChange @117;
+    speedLimitActive @113;
+    speedLimitValueChange @114;

    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
@@ -141,7 +138,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    modelLagWarningDEPRECATED @93;
    startupOneplusDEPRECATED @82;
    startupFuzzyFingerprintDEPRECATED @97;
-    noTargetDEPRECATED @25;
  }
 }

@@ -172,7 +168,6 @@ struct CarState {
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
-  regenBraking @45 :Bool; # this is user pedal only
  parkingBrake @39 :Bool;
  brakeHoldActive @38 :Bool;

@@ -220,9 +215,9 @@ struct CarState {
  charging @43 :Bool;

  # dp
-  cruiseActualEnabled @46 :Bool;
-  engineRPM @47 :Float32;
-  distanceLines @48:UInt8;
+  cruiseActualEnabled @45 :Bool;
+  engineRPM @46 :Float32;
+  distanceLines @47:UInt8;

  struct WheelSpeeds {
    # optional wheel speeds
@@ -327,9 +322,6 @@ struct CarControl {
  # Actuator commands as computed by controlsd
  actuators @6 :Actuators;

-  leftBlinker @15: Bool;
-  rightBlinker @16: Bool;
-
  # Any car specific rate limits or quirks applied by
  # the CarController are reflected in actuatorsOutput
  # and matches what is sent to the car
@@ -347,12 +339,8 @@ struct CarControl {
    brake @1: Float32;
    # range from -1.0 - 1.0
    steer @2: Float32;
-    # value sent over can to the car
-    steerOutputCan @8: Float32;
    steeringAngleDeg @3: Float32;

-    curvature @7: Float32;
-
    speed @6: Float32; # m/s
    accel @4: Float32; # m/s^2
    longControlState @5: LongControlState;
@@ -361,14 +349,15 @@ struct CarControl {
      off @0;
      pid @1;
      stopping @2;
-      starting @3;
+
+      startingDEPRECATED @3;
    }
+
  }

  struct CruiseControl {
    cancel @0: Bool;
    resume @1: Bool;
-    override @4: Bool;
    speedOverrideDEPRECATED @2: Float32;
    accelOverrideDEPRECATED @3: Float32;
  }
@@ -434,18 +423,23 @@ struct CarParams {
  enableGasInterceptor @2 :Bool;
  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
  enableDsu @5 :Bool;        # driving support unit
+  enableApgs @6 :Bool;       # advanced parking guidance system
  enableBsm @56 :Bool;       # blind spot monitoring
  flags @64 :UInt32;         # flags for car specific quirks
-  experimentalLongitudinalAvailable @71 :Bool;

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
+  maxSteeringAngleDeg @54 :Float32;
  safetyConfigs @62 :List(SafetyConfig);
  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
-
-  # Car docs fields
  maxLateralAccel @68 :Float32;
-  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
+
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);

  # things about the car in the manual
  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
@@ -473,13 +467,12 @@ struct CarParams {

  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
-  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
+  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
+  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
+  stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
  steerControlType @34 :SteerControlType;
  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
-  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
-  startAccel @32 :Float32; # Required acceleration to get car moving
-  startingState @70 :Bool; # Does this car make use of special starting state

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
@@ -523,8 +516,6 @@ struct CarParams {
    friction @3 :Float32;
    kf @4 :Float32;
    steeringAngleDeadzoneDeg @5 :Float32;
-    latAccelFactor @6 :Float32;
-    latAccelOffset @7 :Float32;
  }

  struct LongitudinalPIDTuning {
@@ -593,16 +584,15 @@ struct CarParams {
    subaruLegacy @22;  # pre-Global platform
    hyundaiLegacy @23;
    hyundaiCommunity @24;
-    stellantisDEPRECATED @25;  # Consolidated with Chrysler; may be recycled for the next new model
-    hongqi @26;
+    stellantis @25;
+    faw @26;
    body @27;
-    hyundaiCanfd @28;
+    hyundaiHDA2 @28;
  }

  enum SteerControlType {
    torque @0;
    angle @1;
-    curvature @2;
  }

  enum TransmissionType {
@@ -626,7 +616,7 @@ struct CarParams {

  enum Ecu {
    eps @0;
-    abs @1;
+    esp @1;
    fwdRadar @2;
    fwdCamera @3;
    engine @4;
@@ -636,10 +626,6 @@ struct CarParams {
    gateway @10; # can gateway
    hud @11; # heads up display
    combinationMeter @12; # instrument cluster
-    electricBrakeBooster @15;
-    shiftByWire @16;
-    adas @19;
-    cornerRadar @21;

    # Toyota only
    dsu @6;
@@ -648,12 +634,8 @@ struct CarParams {
    # Honda only
    vsa @13; # Vehicle Stability Assist
    programmedFuelInjection @14;
-
-    # Chrysler only
-    hcp @18;  # Hybrid Control Processor
-
-    # Hyundai only
-    vcu @20;  # Vehicle (Motor) Control Unit
+    electricBrakeBooster @15;
+    shiftByWire @16;

    debug @17;
  }
@@ -670,7 +652,6 @@ struct CarParams {
  }

  enableCameraDEPRECATED @4 :Bool;
-  enableApgsDEPRECATED @6 :Bool;
  steerRateCostDEPRECATED @33 :Float32;
  isPandaBlackDEPRECATED @39 :Bool;
  hasStockCameraDEPRECATED @57 :Bool;
@@ -678,14 +659,7 @@ struct CarParams {
  safetyModelDEPRECATED @9 :SafetyModel;
  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
  minSpeedCanDEPRECATED @51 :Float32;
+  startAccelDEPRECATED @32 :Float32;
  communityFeatureDEPRECATED @46: Bool;
  startingAccelRateDEPRECATED @53 :Float32;
-  steerMaxBPDEPRECATED @11 :List(Float32);
-  steerMaxVDEPRECATED @12 :List(Float32);
-  gasMaxBPDEPRECATED @13 :List(Float32);
-  gasMaxVDEPRECATED @14 :List(Float32);
-  brakeMaxBPDEPRECATED @15 :List(Float32);
-  brakeMaxVDEPRECATED @16 :List(Float32);
-  directAccelControlDEPRECATED @30 :Bool;
-  maxSteeringAngleDegDEPRECATED @54 :Float32;
 }
@@ -11,40 +11,16 @@ struct DragonConf {
  dpLcMinMph @3 :UInt8;
  dpLcAutoMinMph @4 :UInt8;
  dpLcAutoDelay @5 :Float32;
-  dpLateralLanelines @6 :Bool;
-  dpLateralCameraOffset @7 :Int8;
-  dpLateralPathOffset @8 :Int8;
-  dpIpAddr @9 :Text;
-  dpUiTop @10 :Bool;
-  dpUiSide @11 :Bool;
-  dpUiVolume @12 :Int8;
-  dpUiBrightness @13 :UInt8;
-  dpUiDisplayMode @14 :UInt8;
-  dpUiSpeed @15 :Bool;
-  dpUiEvent @16 :Bool;
-  dpUiFace @17 :Bool;
-  dpUiLeadInfo @18 :Bool;
-  dpUiLaneline @19 :Bool;
-  dpUiChevron @20 :Bool;
-  dpUiDmCam @21 :Bool;
-  dpToyotaSng @22 :Bool;
-  dpAccelProfileCtrl @23 :Bool;
-  dpAccelProfile @24 :UInt8;
-  dpToyotaCruiseOverride @25 :Bool;
-  dpToyotaCruiseOverrideSpeed @26 :UInt8;
-  dpToyotaAutoLock @27 :Bool;
-  dpToyotaAutoUnlock @28 :Bool;
-  dpMapd @29 :Bool;
-  dpLocalDb @30 :Bool;
-  dpDashcamd @31 :Bool;
-  dpMazdaSteerAlert @32 :Bool;
-  dpSpeedCheck @33 :Bool;
-  dpFollowingProfileCtrl @34 :Bool;
-  dpFollowingProfile @35 :UInt8;
-  dpE2EConditional @36 :Bool;
-  dpE2EConditionalAtSpeed @37 :UInt8;
-  dpE2EConditionalAtSpeedLead @38 :UInt8;
-  dpE2EConditionalAdaptFp @39 :Bool;
-  dpE2EConditionalAdaptAp @40 :Bool;
-  dpE2EConditionalVoacc @41 :Bool;
+  dpIpAddr @6 :Text;
+  dpUiTop @7 :Bool;
+  dpUiSide @8 :Bool;
+  dpUiVolume @9 :Int8;
+  dpUiBrightness @10 :UInt8;
+  dpUiDisplayMode @11 :UInt8;
+  dpToyotaSng @12 :Bool;
+  dpAccelProfileCtrl @13 :Bool;
+  dpAccelProfile @14 :UInt8;
+  dpToyotaCruiseOverride @15 :Bool;
+  dpUseLanelines @16 :Bool;
+  dpMapd @17 :Bool;
 }
@@ -38,8 +38,6 @@ struct InitData {
  passive @12 :Bool;
  params @17 :Map(Text, Data);

-  commands @19 :Map(Text, Data);
-
  enum DeviceType {
    unknown @0;
    neo @1;
@@ -138,7 +136,6 @@ struct FrameData {
  gain @15 :Float32; # This includes highConversionGain if enabled
  measuredGreyFraction @21 :Float32;
  targetGreyFraction @22 :Float32;
-  exposureValPercent @27 :Float32;

  # Focus
  lensPos @11 :Int32;
@@ -152,7 +149,10 @@ struct FrameData {

  transform @10 :List(Float32);

+  androidCaptureResult @9 :AndroidCaptureResult;
+
  image @6 :Data;
+  globalGainDEPRECATED @5 :Int32;

  temperaturesC @24 :List(Float32);

@@ -163,15 +163,6 @@ struct FrameData {
    front @3;
  }

-  sensor @26 :ImageSensor;
-  enum ImageSensor {
-    unknown @0;
-    ar0321 @1;
-    ox03c10 @2;
-  }
-
-  globalGainDEPRECATED @5 :Int32;
-  androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
  struct AndroidCaptureResult {
    sensitivity @0 :Int32;
    frameDuration @1 :Int64;
@@ -228,9 +219,9 @@ struct SensorEventData {
    fiber @2;
    velodyne @3;  # Velodyne IMU
    bno055 @4;    # Bosch accelerometer
-    lsm6ds3 @5;   # includes LSM6DS3 and LSM6DS3TR, TR = tape reel
-    bmp280 @6;    # barometer
-    mmc3416x @7;  # magnetometer
+    lsm6ds3 @5;   # accelerometer (c2)
+    bmp280 @6;    # barometer (c2)
+    mmc3416x @7;  # magnetometer (c2)
    bmx055 @8;
    rpr0521 @9;
    lsm6ds3trc @10;
@@ -261,7 +252,9 @@ struct GpsLocationData {
  # Represents expected accuracy in meters. (presumably 1 sigma?)
  accuracy @6 :Float32;

-  unixTimestampMillis @7 :Int64;
+  # Timestamp for the location fix.
+  # Milliseconds since January 1, 1970.
+  timestamp @7 :Int64;

  source @8 :SensorSource;

@@ -298,10 +291,10 @@ struct CanData {
 }

 struct DeviceState @0xa4d8b5af2aa492eb {
+  usbOnline @12 :Bool;
  networkType @22 :NetworkType;
  networkInfo @31 :NetworkInfo;
  networkStrength @24 :NetworkStrength;
-  networkStats @43 :NetworkStats;
  networkMetered @41 :Bool;
  lastAthenaPingTime @32 :UInt64;

@@ -315,6 +308,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  cpuUsagePercent @34 :List(Int8);  # per-core cpu usage

  # power
+  batteryPercent @8 :Int16;
+  batteryCurrent @15 :Int32;
+  chargingError @17 :Bool;
+  chargingDisabled @18 :Bool;
  offroadPowerUsageUwh @23 :UInt32;
  carBatteryCapacityUwh @25 :UInt32;
  powerDrawW @40 :Float32;
@@ -373,11 +370,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
    state @5 :Text;
  }

-  struct NetworkStats {
-    wwanTx @0 :Int64;
-    wwanRx @1 :Int64;
-  }
-
  # deprecated
  cpu0DEPRECATED @0 :UInt16;
  cpu1DEPRECATED @1 :UInt16;
@@ -391,43 +383,29 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  batteryStatusDEPRECATED @9 :Text;
  batteryVoltageDEPRECATED @16 :Int32;
  batteryTempCDEPRECATED @29 :Float32;
-  batteryPercent @8 :Int16;
-  batteryCurrent @15 :Int32;
-  chargingError @17 :Bool;
-  chargingDisabled @18 :Bool;
-  usbOnline @12 :Bool;
 }

 struct PandaState @0xa7649e2575e4591e {
  ignitionLine @2 :Bool;
+  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
-  rxBufferOverflow @7 :UInt32;
-  txBufferOverflow @8 :UInt32;
+  canSendErrs @7 :UInt32;
+  canFwdErrs @8 :UInt32;
+  canRxErrs @19 :UInt32;
  gmlanSendErrs @9 :UInt32;
  pandaType @10 :PandaType;
  ignitionCan @13 :Bool;
+  safetyModel @14 :Car.CarParams.SafetyModel;
+  safetyParam @27 :UInt16;
+  alternativeExperience @23 :Int16;
  faultStatus @15 :FaultStatus;
  powerSaveEnabled @16 :Bool;
  uptime @17 :UInt32;
  faults @18 :List(FaultType);
  harnessStatus @21 :HarnessStatus;
  heartbeatLost @22 :Bool;
+  blockedCnt @24 :UInt32;
  interruptLoad @25 :Float32;
-  fanPower @28 :UInt8;
-
-  # can health
-  canState0 @29 :PandaCanState;
-  canState1 @30 :PandaCanState;
-  canState2 @31 :PandaCanState;
-
-  # safety stuff
-  controlsAllowed @3 :Bool;
-  safetyRxInvalid @19 :UInt32;
-  safetyTxBlocked @24 :UInt32;
-  safetyModel @14 :Car.CarParams.SafetyModel;
-  safetyParam @27 :UInt16;
-  alternativeExperience @23 :Int16;
-  safetyRxChecksInvalid @32 :Bool;

  enum FaultStatus {
    none @0;
@@ -459,8 +437,6 @@ struct PandaState @0xa7649e2575e4591e {
    interruptRateClockSource @20;
    interruptRateTick @21;
    interruptRateExti @22;
-    interruptRateSpi @23;
-    interruptRateUart7 @24;
    # Update max fault type in boardd when adding faults
  }

@@ -473,8 +449,6 @@ struct PandaState @0xa7649e2575e4591e {
    uno @5;
    dos @6;
    redPanda @7;
-    redPandaV2 @8;
-    tres @9;
  }

  enum HarnessStatus {
@@ -488,44 +462,9 @@ struct PandaState @0xa7649e2575e4591e {
  currentDEPRECATED @1 :UInt32;
  hasGpsDEPRECATED @6 :Bool;
  fanSpeedRpmDEPRECATED @11 :UInt16;
-  usbPowerMode @12 :PeripheralState.UsbPowerMode;
+  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerMode;
  safetyParamDEPRECATED @20 :Int16;
  safetyParam2DEPRECATED @26 :UInt32;
-
-  struct PandaCanState {
-    busOff @0 :Bool;
-    busOffCnt @1 :UInt32;
-    errorWarning @2 :Bool;
-    errorPassive @3 :Bool;
-    lastError @4 :LecErrorCode;
-    lastStoredError @5 :LecErrorCode;
-    lastDataError @6 :LecErrorCode;
-    lastDataStoredError @7 :LecErrorCode;
-    receiveErrorCnt @8 :UInt8;
-    transmitErrorCnt @9 :UInt8;
-    totalErrorCnt @10 :UInt32;
-    totalTxLostCnt @11 :UInt32;
-    totalRxLostCnt @12 :UInt32;
-    totalTxCnt @13 :UInt32;
-    totalRxCnt @14 :UInt32;
-    totalFwdCnt @15 :UInt32;
-    canSpeed @16 :UInt16;
-    canDataSpeed @17 :UInt16;
-    canfdEnabled @18 :Bool;
-    brsEnabled @19 :Bool;
-    canfdNonIso @20 :Bool;
-
-    enum LecErrorCode {
-      noError @0;
-      stuffError @1;
-      formError @2;
-      ackError @3;
-      bit1Error @4;
-      bit0Error @5;
-      crcError @6;
-      noChange @7;
-    }
-  }
 }

 struct PeripheralState {
@@ -533,8 +472,8 @@ struct PeripheralState {
  voltage @1 :UInt32;
  current @2 :UInt32;
  fanSpeedRpm @3 :UInt16;
-
  usbPowerMode @4 :UsbPowerMode;
+
  enum UsbPowerMode @0xa8883583b32c9877 {
    none @0;
    client @1;
@@ -593,7 +532,6 @@ struct LiveCalibrationData {
  # the direction of travel vector in device frame
  rpyCalib @7 :List(Float32);
  rpyCalibSpread @8 :List(Float32);
-  wideFromDeviceEuler @10 :List(Float32);

  warpMatrixDEPRECATED @0 :List(Float32);
  warpMatrix2DEPRECATED @5 :List(Float32);
@@ -623,8 +561,6 @@ struct ControlsState @0x97ff69c53601abf1 {
  enabled @19 :Bool;
  active @36 :Bool;

-  experimentalMode @64 :Bool;
-
  longControlState @30 :Car.CarControl.Actuators.LongControlState;
  vPid @2 :Float32;
  vTargetLead @3 :Float32;
@@ -655,13 +591,10 @@ struct ControlsState @0x97ff69c53601abf1 {
  lateralControlState :union {
    indiState @52 :LateralINDIState;
    pidState @53 :LateralPIDState;
+    lqrState @55 :LateralLQRState;
    angleState @58 :LateralAngleState;
    debugState @59 :LateralDebugState;
    torqueState @60 :LateralTorqueState;
-    curvatureState @65 :LateralCurvatureState;
-
-    #dp
-    lqrState @55 :LateralLQRState;
  }

  enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -669,7 +602,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    preEnabled @1;
    enabled @2;
    softDisabling @3;
-    overriding @4;  # superset of overriding with steering or accelerator
+    overriding @4;
  }

  enum AlertStatus {
@@ -746,18 +679,6 @@ struct ControlsState @0x97ff69c53601abf1 {
    steeringAngleDesiredDeg @4 :Float32;
  }

-  struct LateralCurvatureState {
-    active @0 :Bool;
-    actualCurvature @1 :Float32;
-    desiredCurvature @2 :Float32;
-    error @3 :Float32;
-    p @4 :Float32;
-    i @5 :Float32;
-    f @6 :Float32;
-    output @7 :Float32;
-    saturated @8 :Bool;
-  }
-
  struct LateralDebugState {
    active @0 :Bool;
    steeringAngleDeg @1 :Float32;
@@ -826,9 +747,6 @@ struct ModelDataV2 {

  meta @12 :MetaData;

-  # Model perceived motion
-  temporalPose @21 :Pose;
-
  # All SI units and in device frame
  struct XYZTData {
    x @0 :List(Float32);
@@ -892,13 +810,6 @@ struct ModelDataV2 {
    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
  }
-
-  struct Pose {
-    trans @0 :List(Float32); # m/s in device frame
-    rot @1 :List(Float32); # rad/s in device frame
-    transStd @2 :List(Float32); # std m/s in device frame
-    rotStd @3 :List(Float32); # std rad/s in device frame
-  }
 }

 struct EncodeIndex {
@@ -971,8 +882,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  turnSpeedControlState @45 :SpeedLimitControlState;
  turnSign @46 :Int16;

-  dpE2EIsBlended @49 :Bool;
-
  enum LongitudinalPlanSource {
    cruise @0;
    lead0 @1;
@@ -1037,11 +946,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {

 struct LateralPlan @0xe1e9318e2ae8b51e {
  modelMonoTime @31 :UInt64;
-  laneWidthDEPRECATED @0 :Float32;
-  lProbDEPRECATED @5 :Float32;
-  rProbDEPRECATED @7 :Float32;
+  laneWidth @0 :Float32;
+  lProb @5 :Float32;
+  rProb @7 :Float32;
  dPathPoints @20 :List(Float32);
-  dProbDEPRECATED @21 :Float32;
+  dProb @21 :Float32;

  #dp
  dPathWLinesX @32 :List(Float32);
@@ -1260,7 +1169,6 @@ struct GnssMeasurements {
    # Different ultra-rapid files:
    nasaUltraRapid @1;
    glonassIacUltraRapid @2;
-    qcompoly @3;
  }
 }

@@ -1323,7 +1231,7 @@ struct UbloxGnss {
        carrierPhaseValid @1 :Bool;
        # half cycle valid
        halfCycleValid @2 :Bool;
-        # half cycle subtracted from phase
+        # half sycle subtracted from phase
        halfCycleSubtracted @3 :Bool;
      }
    }
@@ -1454,7 +1362,7 @@ struct QcomGnss @0xde94674b07ae51c1 {
    unknown3 @3;
    unknown4 @4;
    unknown5 @5;
-    sbas @6;
+    unknown6 @6;
  }

  enum SVObservationState @0xe81e829a0d6c83e9 {
@@ -1795,7 +1703,7 @@ struct DriverStateV2 {
  }
 }

-struct DriverState @0xb83c6cc593ed0a00 {
+struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
  frameId @0 :UInt32;
  modelExecutionTime @14 :Float32;
  dspExecutionTime @16 :Float32;
@@ -1877,22 +1785,6 @@ struct LiveParametersData {
  roll @14 :Float32;
 }

-struct LiveTorqueParametersData {
-  liveValid @0 :Bool;
-  latAccelFactorRaw @1 :Float32;
-  latAccelOffsetRaw @2 :Float32;
-  frictionCoefficientRaw @3 :Float32;
-  latAccelFactorFiltered @4 :Float32;
-  latAccelOffsetFiltered @5 :Float32;
-  frictionCoefficientFiltered @6 :Float32;
-  totalBucketPoints @7 :Float32;
-  decay @8 :Float32;
-  maxResets @9 :Float32;
-  points @10 :List(List(Float32));
-  version @11 :Int32;
-  useParams @12 :Bool;
-}
-
 struct LiveMapDataDEPRECATED {
  speedLimitValid @0 :Bool;
  speedLimit @1 :Float32;
@@ -1920,8 +1812,6 @@ struct CameraOdometry {
  rot @1 :List(Float32); # rad/s in device frame
  transStd @2 :List(Float32); # std m/s in device frame
  rotStd @3 :List(Float32); # std rad/s in device frame
-  wideFromDeviceEuler @6 :List(Float32);
-  wideFromDeviceEulerStd @7 :List(Float32);
 }

 struct LiveMapData {
@@ -1958,10 +1848,6 @@ struct Sentinel {
  signal @1 :Int32;
 }

-struct UIDebug {
-  drawTimeMillis @0 :Float32;
-}
-
 struct ManagerState {
  processes @0 :List(ProcessState);

@@ -2031,30 +1917,6 @@ struct NavRoute {
  }
 }

-struct MapRenderState {
-  locationMonoTime @0 :UInt64;
-  renderTime @1 :Float32;
-  frameId @2: UInt32;
-}
-
-struct NavModelData {
-  frameId @0 :UInt32;
-  modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
-  features @3 :List(Float32);
-  # predicted future position
-  position @4 :XYData;
-  desirePrediction @5 :List(Float32);
-
-  # All SI units and in device frame
-  struct XYData {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    xStd @2 :List(Float32);
-    yStd @3 :List(Float32);
-  }
-}
-
 struct EncodeData {
  idx @0 :EncodeIndex;
  data @1 :Data;
@@ -2062,18 +1924,6 @@ struct EncodeData {
  unixTimestampNanos @3 :UInt64;
 }

-struct UserFlag {
-}
-
-struct Microphone {
-  soundPressure @0 :Float32;
-
-  # uncalibrated, A-weighted
-  soundPressureWeighted @3 :Float32;
-  soundPressureWeightedDb @1 :Float32;
-  filteredSoundPressureWeightedDb @2 :Float32;
-}
-
 struct Event {
  logMonoTime @0 :UInt64;  # nanoseconds
  valid @67 :Bool = true;
@@ -2090,13 +1940,7 @@ struct Event {
    gpsNMEA @3 :GPSNMEAData;
    can @5 :List(CanData);
    controlsState @7 :ControlsState;
-    gyroscope @99 :SensorEventData;
-    gyroscope2 @100 :SensorEventData;
-    accelerometer @98 :SensorEventData;
-    accelerometer2 @101 :SensorEventData;
-    magnetometer @95 :SensorEventData;
-    lightSensor @96 :SensorEventData;
-    temperatureSensor @97 :SensorEventData;
+    sensorEvents @11 :List(SensorEventData);
    pandaStates @81 :List(PandaState);
    peripheralState @80 :PeripheralState;
    radarState @13 :RadarState;
@@ -2111,10 +1955,8 @@ struct Event {
    ubloxRaw @39 :Data;
    qcomGnss @31 :QcomGnss;
    gpsLocationExternal @48 :GpsLocationData;
-    gpsLocation @21 :GpsLocationData;
    gnssMeasurements @91 :GnssMeasurements;
    liveParameters @61 :LiveParametersData;
-    liveTorqueParameters @94 :LiveTorqueParametersData;
    cameraOdometry @63 :CameraOdometry;
    thumbnail @66: Thumbnail;
    carEvents @68: List(Car.CarEvent);
@@ -2123,7 +1965,6 @@ struct Event {
    liveLocationKalman @72 :LiveLocationKalman;
    modelV2 @75 :ModelDataV2;
    driverStateV2 @92 :DriverStateV2;
-    navModel @104 :NavModelData;

    # camera stuff, each camera state has a matching encode idx
    roadCameraState @2 :FrameData;
@@ -2134,9 +1975,6 @@ struct Event {
    wideRoadEncodeIdx @77 :EncodeIndex;
    qRoadEncodeIdx @90 :EncodeIndex;

-    # microphone data
-    microphone @103 :Microphone;
-
    # systems stuff
    androidLog @20 :AndroidLogEntry;
    managerState @78 :ManagerState;
@@ -2151,12 +1989,7 @@ struct Event {
    navInstruction @82 :NavInstruction;
    navRoute @83 :NavRoute;
    navThumbnail @84: Thumbnail;
-    mapRenderState @105: MapRenderState;

-    # UI services
-    userFlag @93 :UserFlag;
-    uiDebug @102 :UIDebug;
-    # dp reserve 105,106
    # *********** debug ***********
    testJoystick @52 :Joystick;
    roadEncodeData @86 :EncodeData;
@@ -2164,8 +1997,8 @@ struct Event {
    wideRoadEncodeData @88 :EncodeData;
    qRoadEncodeData @89 :EncodeData;

-    dragonConf @106 :Dp.DragonConf;
-    liveMapData @107: LiveMapData;
+    dragonConf @93 :Dp.DragonConf;
+    liveMapData @94: LiveMapData;

    # *********** legacy + deprecated ***********
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
@@ -2201,9 +2034,9 @@ struct Event {
    orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
    featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
    kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
+    gpsLocationDEPRECATED @21 :GpsLocationData;
    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
    pandaStateDEPRECATED @12 :PandaState;
-    driverState @59 :DriverState;
-    sensorEvents @11 :List(SensorEventData);
+    driverStateDEPRECATED @59 :DriverStateDEPRECATED;
  }
 }
@@ -1,4 +1,4 @@
-/* Generated by Cython 0.29.24 */
+/* Generated by Cython 0.29.26 */

 /* BEGIN: Cython Metadata
 {
@@ -28,8 +28,8 @@ END: Cython Metadata */
 #elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
    #error Cython requires Python 2.6+ or Python 3.3+.
 #else
-#define CYTHON_ABI "0_29_24"
-#define CYTHON_HEX_VERSION 0x001D18F0
+#define CYTHON_ABI "0_29_26"
+#define CYTHON_HEX_VERSION 0x001D1AF0
 #define CYTHON_FUTURE_DIVISION 1
 #include <stddef.h>
 #ifndef offsetof
@@ -176,7 +176,7 @@ END: Cython Metadata */
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
-  #if PY_VERSION_HEX < 0x030300F0
+  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -195,7 +195,7 @@ END: Cython Metadata */
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_PYCALL
-    #define CYTHON_FAST_PYCALL 1
+    #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -214,7 +214,9 @@ END: Cython Metadata */
 #define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
 #endif
 #if CYTHON_USE_PYLONG_INTERNALS
-  #include "longintrepr.h"
+  #if PY_MAJOR_VERSION < 3
+    #include "longintrepr.h"
+  #endif
  #undef SHIFT
  #undef BASE
  #undef MASK
@@ -345,9 +347,68 @@ class __Pyx_FakeReference {
  #define __Pyx_DefaultClassType PyClass_Type
 #else
  #define __Pyx_BUILTIN_MODULE_NAME "builtins"
-#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
-  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
-          PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+  #define __Pyx_DefaultClassType PyType_Type
+#if PY_VERSION_HEX >= 0x030B00A1
+    static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
+                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
+                                                    PyObject *fv, PyObject *cell, PyObject* fn,
+                                                    PyObject *name, int fline, PyObject *lnos) {
+        PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
+        PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
+        const char *fn_cstr=NULL;
+        const char *name_cstr=NULL;
+        PyCodeObject* co=NULL;
+        PyObject *type, *value, *traceback;
+        PyErr_Fetch(&type, &value, &traceback);
+        if (!(kwds=PyDict_New())) goto end;
+        if (!(argcount=PyLong_FromLong(a))) goto end;
+        if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
+        if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
+        if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
+        if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
+        if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
+        if (!(nlocals=PyLong_FromLong(l))) goto end;
+        if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
+        if (!(stacksize=PyLong_FromLong(s))) goto end;
+        if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
+        if (!(flags=PyLong_FromLong(f))) goto end;
+        if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
+        if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
+        if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
+        if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
+        if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
+        if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
+        if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
+        Py_XDECREF((PyObject*)co);
+        co = (PyCodeObject*)call_result;
+        call_result = NULL;
+        if (0) {
+            cleanup_code_too:
+            Py_XDECREF((PyObject*)co);
+            co = NULL;
+        }
+        end:
+        Py_XDECREF(kwds);
+        Py_XDECREF(argcount);
+        Py_XDECREF(posonlyargcount);
+        Py_XDECREF(kwonlyargcount);
+        Py_XDECREF(nlocals);
+        Py_XDECREF(stacksize);
+        Py_XDECREF(replace);
+        Py_XDECREF(call_result);
+        Py_XDECREF(empty);
+        if (type) {
+            PyErr_Restore(type, value, traceback);
+        }
+        return co;
+    }
 #else
  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -585,10 +646,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
 #else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
 #endif
 #if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -753,6 +814,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
    (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
 static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
 static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
 #if CYTHON_ASSUME_SAFE_MACROS
 #define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
 #else
@@ -1120,6 +1182,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
 #ifndef Py_MEMBER_SIZE
 #define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
 #endif
+#if CYTHON_FAST_PYCALL
  static size_t __pyx_pyframe_localsplus_offset = 0;
  #include "frameobject.h"
  #define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1127,6 +1190,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
     (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
  #define __Pyx_PyFrame_GetLocalsplus(frame)\
    (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
+#endif // CYTHON_FAST_PYCALL
 #endif

 /* PyObjectCallMethO.proto */
@@ -3922,6 +3986,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_Context = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
+  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
+  0, /*tp_pypy_flags*/
+  #endif
 };

 static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_Poller(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
@@ -4055,6 +4122,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_Poller = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
+  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
+  0, /*tp_pypy_flags*/
+  #endif
 };
 static struct __pyx_vtabstruct_6cereal_9messaging_13messaging_pyx_SubSocket __pyx_vtable_6cereal_9messaging_13messaging_pyx_SubSocket;

@@ -4169,6 +4239,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_SubSocket = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
+  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
+  0, /*tp_pypy_flags*/
+  #endif
 };

 static PyObject *__pyx_tp_new_6cereal_9messaging_13messaging_pyx_PubSocket(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
@@ -4279,6 +4352,9 @@ static PyTypeObject __pyx_type_6cereal_9messaging_13messaging_pyx_PubSocket = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
+  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
+  0, /*tp_pypy_flags*/
+  #endif
 };

 static PyMethodDef __pyx_methods[] = {
@@ -6080,7 +6156,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
    }
    if (!use_cline) {
        c_line = 0;
-        PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
    }
    else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
        c_line = 0;
@@ -6177,30 +6253,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
 static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
            const char *funcname, int c_line,
            int py_line, const char *filename) {
-    PyCodeObject *py_code = 0;
-    PyObject *py_srcfile = 0;
-    PyObject *py_funcname = 0;
+    PyCodeObject *py_code = NULL;
+    PyObject *py_funcname = NULL;
    #if PY_MAJOR_VERSION < 3
+    PyObject *py_srcfile = NULL;
    py_srcfile = PyString_FromString(filename);
-    #else
-    py_srcfile = PyUnicode_FromString(filename);
-    #endif
    if (!py_srcfile) goto bad;
+    #endif
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
+        funcname = PyUnicode_AsUTF8(py_funcname);
+        if (!funcname) goto bad;
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
-        #else
-        py_funcname = PyUnicode_FromString(funcname);
+        if (!py_funcname) goto bad;
        #endif
    }
-    if (!py_funcname) goto bad;
+    #if PY_MAJOR_VERSION < 3
    py_code = __Pyx_PyCode_New(
        0,
        0,
@@ -6219,11 +6296,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
-    Py_DECREF(py_funcname);
+    #else
+    py_code = PyCode_NewEmpty(filename, funcname, py_line);
+    #endif
+    Py_XDECREF(py_funcname);  // XDECREF since it's only set on Py3 if cline
    return py_code;
 bad:
-    Py_XDECREF(py_srcfile);
    Py_XDECREF(py_funcname);
+    #if PY_MAJOR_VERSION < 3
+    Py_XDECREF(py_srcfile);
+    #endif
    return NULL;
 }
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -7071,6 +7153,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_DECREF(x);
  return ival;
 }
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
+  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
+    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
+#if PY_MAJOR_VERSION < 3
+  } else if (likely(PyInt_CheckExact(o))) {
+    return PyInt_AS_LONG(o);
+#endif
+  } else {
+    Py_ssize_t ival;
+    PyObject *x;
+    x = PyNumber_Index(o);
+    if (!x) return -1;
+    ival = PyInt_AsLong(x);
+    Py_DECREF(x);
+    return ival;
+  }
+}
 static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
  return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
 }
@@ -5,7 +5,7 @@
 #include <atomic>

 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 13 //default comma is 12
+#define NUM_READERS 10
 #define ALIGN(n) ((n + (8 - 1)) & -8)

 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
@@ -3,74 +3,59 @@
 #define __SERVICES_H
 struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
 static struct service services[] = {
-  { "gyroscope", 8001, true, 104, 104 },
-  { "gyroscope2", 8002, true, 100, 100 },
-  { "accelerometer", 8003, true, 104, 104 },
-  { "accelerometer2", 8004, true, 100, 100 },
-  { "magnetometer", 8005, true, 100, 100 },
-  { "lightSensor", 8006, true, 100, 100 },
-  { "temperatureSensor", 8007, true, 100, 100 },
-  { "gpsNMEA", 8008, true, 9, -1 },
-  { "deviceState", 8009, true, 2, 1 },
-  { "can", 8010, true, 100, -1 },
-  { "controlsState", 8011, true, 100, 10 },
-  { "pandaStates", 8012, true, 2, 1 },
-  { "peripheralState", 8013, true, 2, 1 },
-  { "radarState", 8014, true, 20, 5 },
-  { "roadEncodeIdx", 8015, false, 20, 1 },
-  { "liveTracks", 8016, true, 20, -1 },
-  { "sendcan", 8017, true, 100, 139 },
-  { "logMessage", 8018, true, 0, -1 },
-  { "errorLogMessage", 8019, true, 0, 1 },
-  { "liveCalibration", 8020, true, 4, 4 },
-  { "liveTorqueParameters", 8021, true, 4, 1 },
-  { "androidLog", 8023, true, 0, -1 },
-  { "carState", 8024, true, 100, 10 },
-  { "carControl", 8025, true, 100, 10 },
-  { "longitudinalPlan", 8026, true, 20, 5 },
-  { "procLog", 8027, true, 0, -1 },
-  { "gpsLocationExternal", 8028, true, 10, 10 },
-  { "gpsLocation", 8029, true, 1, 1 },
-  { "ubloxGnss", 8030, true, 10, -1 },
-  { "qcomGnss", 8031, true, 2, -1 },
-  { "gnssMeasurements", 8032, true, 10, 10 },
-  { "clocks", 8033, true, 1, 1 },
-  { "ubloxRaw", 8034, true, 20, -1 },
-  { "liveLocationKalman", 8035, true, 20, 5 },
-  { "liveParameters", 8036, true, 20, 5 },
-  { "cameraOdometry", 8037, true, 20, 5 },
-  { "lateralPlan", 8038, true, 20, 5 },
-  { "thumbnail", 8039, true, 0, 1 },
-  { "carEvents", 8040, true, 1, 1 },
-  { "carParams", 8041, true, 0, 1 },
-  { "roadCameraState", 8042, true, 20, 20 },
-  { "driverCameraState", 8043, true, 10, 10 },
-  { "driverEncodeIdx", 8044, false, 10, 1 },
-  { "driverStateV2", 8045, true, 20, 10 },
-  { "driverState", 8046, true, 10, 5 },
-  { "driverMonitoringState", 8047, true, 10, 5 },
-  { "wideRoadEncodeIdx", 8048, false, 20, 1 },
-  { "wideRoadCameraState", 8049, true, 20, 20 },
-  { "modelV2", 8050, true, 20, 40 },
-  { "managerState", 8051, true, 2, 1 },
-  { "uploaderState", 8052, true, 0, 1 },
-  { "navInstruction", 8053, true, 1, 10 },
-  { "navRoute", 8054, true, 0, -1 },
-  { "navThumbnail", 8055, true, 0, -1 },
-  { "navModel", 8056, true, 2, 4 },
-  { "mapRenderState", 8057, true, 2, 1 },
-  { "qRoadEncodeIdx", 8058, false, 20, -1 },
-  { "userFlag", 8059, true, 0, 1 },
-  { "microphone", 8060, true, 10, 10 },
-  { "uiDebug", 8061, true, 0, 1 },
-  { "testJoystick", 8062, true, 0, -1 },
-  { "roadEncodeData", 8063, false, 20, -1 },
-  { "driverEncodeData", 8064, false, 20, -1 },
-  { "wideRoadEncodeData", 8065, false, 20, -1 },
-  { "qRoadEncodeData", 8066, false, 20, -1 },
-  { "dragonConf", 8067, false, 1, -1 },
-  { "liveMapData", 8068, true, 0, -1 },
-  { "sensorEvents", 8069, true, 100, 100 },
+  { "sensorEvents", 8001, true, 100, 100 },
+  { "gpsNMEA", 8002, true, 9, -1 },
+  { "deviceState", 8003, true, 2, 1 },
+  { "can", 8004, true, 100, -1 },
+  { "controlsState", 8005, true, 100, 10 },
+  { "pandaStates", 8006, true, 2, 1 },
+  { "peripheralState", 8007, true, 2, 1 },
+  { "radarState", 8008, true, 20, 5 },
+  { "roadEncodeIdx", 8009, false, 20, 1 },
+  { "liveTracks", 8010, true, 20, -1 },
+  { "sendcan", 8011, true, 100, 139 },
+  { "logMessage", 8012, true, 0, -1 },
+  { "errorLogMessage", 8013, true, 0, 1 },
+  { "liveCalibration", 8014, true, 4, 4 },
+  { "androidLog", 8015, true, 0, -1 },
+  { "carState", 8016, true, 100, 10 },
+  { "carControl", 8017, true, 100, 10 },
+  { "longitudinalPlan", 8018, true, 20, 5 },
+  { "procLog", 8019, true, 0, -1 },
+  { "gpsLocationExternal", 8020, true, 10, 10 },
+  { "ubloxGnss", 8021, true, 10, -1 },
+  { "qcomGnss", 8023, true, 2, -1 },
+  { "gnssMeasurements", 8024, true, 10, -1 },
+  { "clocks", 8025, true, 1, 1 },
+  { "ubloxRaw", 8026, true, 20, -1 },
+  { "liveLocationKalman", 8027, true, 20, 5 },
+  { "liveParameters", 8028, true, 20, 5 },
+  { "cameraOdometry", 8029, true, 20, 5 },
+  { "lateralPlan", 8030, true, 20, 5 },
+  { "thumbnail", 8031, true, 0, 1 },
+  { "carEvents", 8032, true, 1, 1 },
+  { "carParams", 8033, true, 0, 1 },
+  { "roadCameraState", 8034, true, 20, 20 },
+  { "driverCameraState", 8035, true, 20, 20 },
+  { "driverEncodeIdx", 8036, false, 20, 1 },
+  { "driverStateV2", 8037, true, 20, 10 },
+  { "driverMonitoringState", 8038, true, 20, 10 },
+  { "wideRoadEncodeIdx", 8039, false, 20, 1 },
+  { "wideRoadCameraState", 8040, true, 20, 20 },
+  { "modelV2", 8041, true, 20, 40 },
+  { "managerState", 8042, true, 2, 1 },
+  { "uploaderState", 8043, true, 0, 1 },
+  { "navInstruction", 8044, true, 1, 10 },
+  { "navRoute", 8045, true, 0, -1 },
+  { "navThumbnail", 8046, true, 0, -1 },
+  { "qRoadEncodeIdx", 8047, false, 20, -1 },
+  { "testJoystick", 8048, true, 0, -1 },
+  { "roadEncodeData", 8049, false, 20, -1 },
+  { "driverEncodeData", 8050, false, 20, -1 },
+  { "wideRoadEncodeData", 8051, false, 20, -1 },
+  { "qRoadEncodeData", 8052, false, 20, -1 },
+  { "dragonConf", 8053, false, 1, -1 },
+  { "liveMapData", 8054, true, 0, -1 },
 };
 #endif

@@ -21,13 +21,7 @@ class Service:
 services = {
  # service: (should_log, frequency, qlog decimation (optional))
  # note: the "EncodeIdx" packets will still be in the log
-  "gyroscope": (True, 104., 104),
-  "gyroscope2": (True, 100., 100),
-  "accelerometer": (True, 104., 104),
-  "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 100., 100),
-  "lightSensor": (True, 100., 100),
-  "temperatureSensor": (True, 100., 100),
+  "sensorEvents": (True, 100., 100),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
  "can": (True, 100.),
@@ -41,17 +35,15 @@ services = {
  "logMessage": (True, 0.),
  "errorLogMessage": (True, 0., 1),
  "liveCalibration": (True, 4., 4),
-  "liveTorqueParameters": (True, 4., 1),
  "androidLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
  "longitudinalPlan": (True, 20., 5),
  "procLog": (True, 0.5),
  "gpsLocationExternal": (True, 10., 10),
-  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
  "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
+  "gnssMeasurements": (True, 10.),
  "clocks": (True, 1., 1),
  "ubloxRaw": (True, 20.),
  "liveLocationKalman": (True, 20., 5),
@@ -62,11 +54,10 @@ services = {
  "carEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
  "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 10., 10),
-  "driverEncodeIdx": (False, 10., 1),
+  "driverCameraState": (True, 20., 20),
+  "driverEncodeIdx": (False, 20., 1),
  "driverStateV2": (True, 20., 10),
-  "driverState": (True, 10, 5),
-  "driverMonitoringState": (True, 10., 5),
+  "driverMonitoringState": (True, 20., 10),
  "wideRoadEncodeIdx": (False, 20., 1),
  "wideRoadCameraState": (True, 20., 20),
  "modelV2": (True, 20., 40),
@@ -75,14 +66,9 @@ services = {
  "navInstruction": (True, 1., 10),
  "navRoute": (True, 0.),
  "navThumbnail": (True, 0.),
-  "navModel": (True, 2., 4.),
-  "mapRenderState": (True, 2., 1.),
  "qRoadEncodeIdx": (False, 20.),
-  "userFlag": (True, 0., 1),
-  "microphone": (True, 10., 10),

  # debug
-  "uiDebug": (True, 0., 1),
  "testJoystick": (True, 0.),
  "roadEncodeData": (False, 20.),
  "driverEncodeData": (False, 20.),
@@ -92,7 +78,6 @@ services = {
  # dp
  "dragonConf": (False, 1.),
  "liveMapData": (True, 0.),
-  "sensorEvents": (True, 100., 100),
 }
 service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
                idx, (name, vals) in enumerate(services.items())}
@@ -1,4 +1,4 @@
-/* Generated by Cython 0.29.24 */
+/* Generated by Cython 0.29.26 */

 /* BEGIN: Cython Metadata
 {
@@ -23,8 +23,8 @@ END: Cython Metadata */
 #elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
    #error Cython requires Python 2.6+ or Python 3.3+.
 #else
-#define CYTHON_ABI "0_29_24"
-#define CYTHON_HEX_VERSION 0x001D18F0
+#define CYTHON_ABI "0_29_26"
+#define CYTHON_HEX_VERSION 0x001D1AF0
 #define CYTHON_FUTURE_DIVISION 1
 #include <stddef.h>
 #ifndef offsetof
@@ -171,7 +171,7 @@ END: Cython Metadata */
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
-  #if PY_VERSION_HEX < 0x030300F0
+  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -190,7 +190,7 @@ END: Cython Metadata */
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_PYCALL
-    #define CYTHON_FAST_PYCALL 1
+    #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -209,7 +209,9 @@ END: Cython Metadata */
 #define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
 #endif
 #if CYTHON_USE_PYLONG_INTERNALS
-  #include "longintrepr.h"
+  #if PY_MAJOR_VERSION < 3
+    #include "longintrepr.h"
+  #endif
  #undef SHIFT
  #undef BASE
  #undef MASK
@@ -340,9 +342,68 @@ class __Pyx_FakeReference {
  #define __Pyx_DefaultClassType PyClass_Type
 #else
  #define __Pyx_BUILTIN_MODULE_NAME "builtins"
-#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
-  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
-          PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+  #define __Pyx_DefaultClassType PyType_Type
+#if PY_VERSION_HEX >= 0x030B00A1
+    static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
+                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
+                                                    PyObject *fv, PyObject *cell, PyObject* fn,
+                                                    PyObject *name, int fline, PyObject *lnos) {
+        PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
+        PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
+        const char *fn_cstr=NULL;
+        const char *name_cstr=NULL;
+        PyCodeObject* co=NULL;
+        PyObject *type, *value, *traceback;
+        PyErr_Fetch(&type, &value, &traceback);
+        if (!(kwds=PyDict_New())) goto end;
+        if (!(argcount=PyLong_FromLong(a))) goto end;
+        if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
+        if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
+        if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
+        if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
+        if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
+        if (!(nlocals=PyLong_FromLong(l))) goto end;
+        if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
+        if (!(stacksize=PyLong_FromLong(s))) goto end;
+        if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
+        if (!(flags=PyLong_FromLong(f))) goto end;
+        if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
+        if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
+        if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
+        if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
+        if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
+        if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
+        if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
+        Py_XDECREF((PyObject*)co);
+        co = (PyCodeObject*)call_result;
+        call_result = NULL;
+        if (0) {
+            cleanup_code_too:
+            Py_XDECREF((PyObject*)co);
+            co = NULL;
+        }
+        end:
+        Py_XDECREF(kwds);
+        Py_XDECREF(argcount);
+        Py_XDECREF(posonlyargcount);
+        Py_XDECREF(kwonlyargcount);
+        Py_XDECREF(nlocals);
+        Py_XDECREF(stacksize);
+        Py_XDECREF(replace);
+        Py_XDECREF(call_result);
+        Py_XDECREF(empty);
+        if (type) {
+            PyErr_Restore(type, value, traceback);
+        }
+        return co;
+    }
 #else
  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -580,10 +641,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
 #else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
 #endif
 #if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -742,6 +803,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
    (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
 static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
 static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
 #if CYTHON_ASSUME_SAFE_MACROS
 #define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
 #else
@@ -1802,7 +1864,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
    }
    if (!use_cline) {
        c_line = 0;
-        PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
    }
    else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
        c_line = 0;
@@ -1899,30 +1961,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
 static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
            const char *funcname, int c_line,
            int py_line, const char *filename) {
-    PyCodeObject *py_code = 0;
-    PyObject *py_srcfile = 0;
-    PyObject *py_funcname = 0;
+    PyCodeObject *py_code = NULL;
+    PyObject *py_funcname = NULL;
    #if PY_MAJOR_VERSION < 3
+    PyObject *py_srcfile = NULL;
    py_srcfile = PyString_FromString(filename);
-    #else
-    py_srcfile = PyUnicode_FromString(filename);
-    #endif
    if (!py_srcfile) goto bad;
+    #endif
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
+        funcname = PyUnicode_AsUTF8(py_funcname);
+        if (!funcname) goto bad;
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
-        #else
-        py_funcname = PyUnicode_FromString(funcname);
+        if (!py_funcname) goto bad;
        #endif
    }
-    if (!py_funcname) goto bad;
+    #if PY_MAJOR_VERSION < 3
    py_code = __Pyx_PyCode_New(
        0,
        0,
@@ -1941,11 +2004,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
-    Py_DECREF(py_funcname);
+    #else
+    py_code = PyCode_NewEmpty(filename, funcname, py_line);
+    #endif
+    Py_XDECREF(py_funcname);  // XDECREF since it's only set on Py3 if cline
    return py_code;
 bad:
-    Py_XDECREF(py_srcfile);
    Py_XDECREF(py_funcname);
+    #if PY_MAJOR_VERSION < 3
+    Py_XDECREF(py_srcfile);
+    #endif
    return NULL;
 }
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -2793,6 +2861,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_DECREF(x);
  return ival;
 }
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
+  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
+    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
+#if PY_MAJOR_VERSION < 3
+  } else if (likely(PyInt_CheckExact(o))) {
+    return PyInt_AS_LONG(o);
+#endif
+  } else {
+    Py_ssize_t ival;
+    PyObject *x;
+    x = PyNumber_Index(o);
+    if (!x) return -1;
+    ival = PyInt_AsLong(x);
+    Py_DECREF(x);
+    return ival;
+  }
+}
 static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
  return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
 }
@@ -5,7 +5,7 @@ import sys
 import json
 import time
 from math import floor
-from system.hardware import TICI
+# from system.hardware import EON, TICI

 '''
 * type: Bool, Int8, UInt8, UInt16, Float32
@@ -24,7 +24,6 @@ confs = [
  {'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},

  # nav service
-  {'name': 'dp_nav', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
  {'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
@@ -50,28 +49,18 @@ confs = [
  # lateral - alc
  {'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
  # {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lc_min_mph', 'default': 15, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1, 2]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_lc_min_mph', 'default': 30, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1, 2]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_lc_auto_min_mph', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},

  #ui
  {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
-  {'name': 'dp_quiet_drive', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_quiet_drive', 'default': False, 'type': 'Boolean', 'conf_type': ['param']},
  {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_lead_info', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_laneline', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_chevron', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_ui_dm_cam', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},

  #toyota
  {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
@@ -79,48 +68,35 @@ confs = [
  {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_auto_lock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_auto_unlock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},

+  {'name': 'dp_use_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_local_db', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},

-
-  # dashcam related
-  {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # # dashcam related
+  # {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  # # auto shutdown
-  {'name': 'dp_auto_shutdown', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_auto_shutdown_in', 'default': 60, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
-
-  {'name': 'dp_mazda_steer_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_mazda_dashcam_bypass', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
  # # service
  # {'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
  # {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
  # # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_dm', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_temp_check', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
-  # {'name': 'dp_vag_resume_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # # lat ctrl
  # {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  # {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', '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_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lateral_tune', 'default': 0, 'type': 'UInt8', 'conf_type': ['param']},
-  {'name': 'dp_lateral_torque_live_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # #{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # #{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
  # {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # # safety
  # {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  # # UIs
  # {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
  # {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
@@ -135,17 +111,9 @@ confs = [
  # {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
  # {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
  # # toyota
-  {'name': 'dp_toyota_rav4_tss2_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_toyota_prius_bad_angle_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_e2e_conditional', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_adapt_fp', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_adapt_ap', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
-  {'name': 'dp_e2e_conditional_voacc', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
  # {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  # {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -156,6 +124,7 @@ confs = [
  # # hyundai
  # {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # # honda
+  # {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # # volkswagen
  # # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -163,7 +132,7 @@ confs = [
  # {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
  # {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
  # {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
-  # {'name': 'dp_camera_offset', 'default': CAMERA_OFFSET, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_camera_offset', 'default': 6 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
  # {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
  #
  # {'name': 'dp_reg', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
@@ -186,8 +155,6 @@ confs = [
  #
  # {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
-  {'name': 'dp_lateral_version', 'default': 0, 'min': 0, 'max': 2, 'type': 'UInt8', 'conf_type': ['param']},
-  {'name': 'dp_lateral_steer_rate_cost', 'default': 1.0, 'min': 0.5, 'max': 2.0, 'type': 'Float32', 'conf_type': ['param']},
 ]

 def get_definition(name):
@@ -8,11 +8,6 @@
  #define GPIO_UBLOX_PWR_EN     34
  #define GPIO_STM_RST_N        124
  #define GPIO_STM_BOOT0        134
-  #define GPIO_BMX_ACCEL_INT    21
-  #define GPIO_BMX_GYRO_INT     23
-  #define GPIO_BMX_MAGN_INT     87
-  #define GPIO_LSM_INT          84
-  #define GPIOCHIP_INT          0
 #else
  #define GPIO_HUB_RST_N        0
  #define GPIO_UBLOX_RST_N      0
@@ -20,14 +15,7 @@
  #define GPIO_UBLOX_PWR_EN     0
  #define GPIO_STM_RST_N        0
  #define GPIO_STM_BOOT0        0
-  #define GPIO_BMX_ACCEL_INT    0
-  #define GPIO_BMX_GYRO_INT     0
-  #define GPIO_BMX_MAGN_INT     0
-  #define GPIO_LSM_INT          0
-  #define GPIOCHIP_INT          0
 #endif

 int gpio_init(int pin_nr, bool output);
 int gpio_set(int pin_nr, bool high);
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
@@ -1,5 +1,3 @@
-from typing import Optional
-
 def gpio_init(pin: int, output: bool) -> None:
  try:
    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
@@ -7,19 +5,10 @@ def gpio_init(pin: int, output: bool) -> None:
  except Exception as e:
    print(f"Failed to set gpio {pin} direction: {e}")

+
 def gpio_set(pin: int, high: bool) -> None:
  try:
    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
      f.write(b"1" if high else b"0")
  except Exception as e:
    print(f"Failed to set gpio {pin} value: {e}")
-
-def gpio_read(pin: int) -> Optional[bool]:
-  val = None
-  try:
-    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
-      val = bool(int(f.read().strip()))
-  except Exception as e:
-    print(f"Failed to set gpio {pin} value: {e}")
-
-  return val
@@ -4,23 +4,16 @@ from common.params import Params
 locale_dir = "/data/openpilot/selfdrive/assets/locales"
 # supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"]
 supported_languages = {
-  "main_en": "en-US",
  "main_zh-CHT": "zh-TW",
  "main_zh-CHS": "zh-CN",
  "main_ko": "ko-KR",
-  "main_ja": "ja-JP",
-  "main_de": "de-DE",
-  "main_pt-BR": "pt_BR",
 }

 def events():
  locale = Params().get("LanguageSetting", encoding='utf8')
-  try:
-    if locale is not None:
-      locale = supported_languages[locale.strip()]
-    else:
-      locale = "en-US"
-  except KeyError:
+  if locale is not None:
+    locale = supported_languages[locale.strip()]
+  else:
    locale = "en-US"
  i18n = gettext.translation("events", localedir=locale_dir, fallback=True, languages=[locale])
  i18n.install()
@@ -1,4 +1,4 @@
-/* Generated by Cython 0.29.24 */
+/* Generated by Cython 0.29.26 */

 /* BEGIN: Cython Metadata
 {
@@ -22,8 +22,8 @@ END: Cython Metadata */
 #elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
    #error Cython requires Python 2.6+ or Python 3.3+.
 #else
-#define CYTHON_ABI "0_29_24"
-#define CYTHON_HEX_VERSION 0x001D18F0
+#define CYTHON_ABI "0_29_26"
+#define CYTHON_HEX_VERSION 0x001D1AF0
 #define CYTHON_FUTURE_DIVISION 1
 #include <stddef.h>
 #ifndef offsetof
@@ -170,7 +170,7 @@ END: Cython Metadata */
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
-  #if PY_VERSION_HEX < 0x030300F0
+  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -189,7 +189,7 @@ END: Cython Metadata */
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_PYCALL
-    #define CYTHON_FAST_PYCALL 1
+    #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -208,7 +208,9 @@ END: Cython Metadata */
 #define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
 #endif
 #if CYTHON_USE_PYLONG_INTERNALS
-  #include "longintrepr.h"
+  #if PY_MAJOR_VERSION < 3
+    #include "longintrepr.h"
+  #endif
  #undef SHIFT
  #undef BASE
  #undef MASK
@@ -339,9 +341,68 @@ class __Pyx_FakeReference {
  #define __Pyx_DefaultClassType PyClass_Type
 #else
  #define __Pyx_BUILTIN_MODULE_NAME "builtins"
-#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
-  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
-          PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+  #define __Pyx_DefaultClassType PyType_Type
+#if PY_VERSION_HEX >= 0x030B00A1
+    static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
+                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
+                                                    PyObject *fv, PyObject *cell, PyObject* fn,
+                                                    PyObject *name, int fline, PyObject *lnos) {
+        PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
+        PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
+        const char *fn_cstr=NULL;
+        const char *name_cstr=NULL;
+        PyCodeObject* co=NULL;
+        PyObject *type, *value, *traceback;
+        PyErr_Fetch(&type, &value, &traceback);
+        if (!(kwds=PyDict_New())) goto end;
+        if (!(argcount=PyLong_FromLong(a))) goto end;
+        if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
+        if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
+        if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
+        if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
+        if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
+        if (!(nlocals=PyLong_FromLong(l))) goto end;
+        if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
+        if (!(stacksize=PyLong_FromLong(s))) goto end;
+        if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
+        if (!(flags=PyLong_FromLong(f))) goto end;
+        if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
+        if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
+        if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
+        if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
+        if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
+        if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
+        if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
+        Py_XDECREF((PyObject*)co);
+        co = (PyCodeObject*)call_result;
+        call_result = NULL;
+        if (0) {
+            cleanup_code_too:
+            Py_XDECREF((PyObject*)co);
+            co = NULL;
+        }
+        end:
+        Py_XDECREF(kwds);
+        Py_XDECREF(argcount);
+        Py_XDECREF(posonlyargcount);
+        Py_XDECREF(kwonlyargcount);
+        Py_XDECREF(nlocals);
+        Py_XDECREF(stacksize);
+        Py_XDECREF(replace);
+        Py_XDECREF(call_result);
+        Py_XDECREF(empty);
+        if (type) {
+            PyErr_Restore(type, value, traceback);
+        }
+        return co;
+    }
 #else
  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -579,10 +640,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
 #else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
 #endif
 #if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -738,6 +799,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
    (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
 static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
 static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
 #if CYTHON_ASSUME_SAFE_MACROS
 #define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
 #else
@@ -1116,6 +1178,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
 #ifndef Py_MEMBER_SIZE
 #define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
 #endif
+#if CYTHON_FAST_PYCALL
  static size_t __pyx_pyframe_localsplus_offset = 0;
  #include "frameobject.h"
  #define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1123,6 +1186,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
     (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
  #define __Pyx_PyFrame_GetLocalsplus(frame)\
    (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
+#endif // CYTHON_FAST_PYCALL
 #endif

 /* PyObjectCall.proto */
@@ -4329,6 +4393,9 @@ static PyTypeObject __pyx_type_6common_6kalman_18simple_kalman_impl_KF1D = {
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
+  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
+  0, /*tp_pypy_flags*/
+  #endif
 };

 static PyMethodDef __pyx_methods[] = {
@@ -5873,7 +5940,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
    }
    if (!use_cline) {
        c_line = 0;
-        PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
    }
    else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
        c_line = 0;
@@ -5970,30 +6037,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
 static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
            const char *funcname, int c_line,
            int py_line, const char *filename) {
-    PyCodeObject *py_code = 0;
-    PyObject *py_srcfile = 0;
-    PyObject *py_funcname = 0;
+    PyCodeObject *py_code = NULL;
+    PyObject *py_funcname = NULL;
    #if PY_MAJOR_VERSION < 3
+    PyObject *py_srcfile = NULL;
    py_srcfile = PyString_FromString(filename);
-    #else
-    py_srcfile = PyUnicode_FromString(filename);
-    #endif
    if (!py_srcfile) goto bad;
+    #endif
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
+        funcname = PyUnicode_AsUTF8(py_funcname);
+        if (!funcname) goto bad;
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
-        #else
-        py_funcname = PyUnicode_FromString(funcname);
+        if (!py_funcname) goto bad;
        #endif
    }
-    if (!py_funcname) goto bad;
+    #if PY_MAJOR_VERSION < 3
    py_code = __Pyx_PyCode_New(
        0,
        0,
@@ -6012,11 +6080,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
-    Py_DECREF(py_funcname);
+    #else
+    py_code = PyCode_NewEmpty(filename, funcname, py_line);
+    #endif
+    Py_XDECREF(py_funcname);  // XDECREF since it's only set on Py3 if cline
    return py_code;
 bad:
-    Py_XDECREF(py_srcfile);
    Py_XDECREF(py_funcname);
+    #if PY_MAJOR_VERSION < 3
+    Py_XDECREF(py_srcfile);
+    #endif
    return NULL;
 }
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -6864,6 +6937,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_DECREF(x);
  return ival;
 }
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
+  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
+    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
+#if PY_MAJOR_VERSION < 3
+  } else if (likely(PyInt_CheckExact(o))) {
+    return PyInt_AS_LONG(o);
+#endif
+  } else {
+    Py_ssize_t ival;
+    PyObject *x;
+    x = PyNumber_Index(o);
+    if (!x) return -1;
+    ival = PyInt_AsLong(x);
+    Py_DECREF(x);
+    return ival;
+  }
+}
 static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
  return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
 }
@@ -4,7 +4,7 @@
 #include "common/mat.h"
 #include "system/hardware/hw.h"

-const int TRAJECTORY_SIZE = 33;
+const int  TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;
 const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
@@ -2,7 +2,6 @@

 #include <map>
 #include <string>
-#include <vector>

 enum ParamKeyType {
  PERSISTENT = 0x02,
@@ -16,7 +15,6 @@ enum ParamKeyType {
 class Params {
 public:
  Params(const std::string &path = {});
-  std::vector<std::string> allKeys() const;
  bool checkKey(const std::string &key);
  ParamKeyType getKeyType(const std::string &key);
  inline std::string getParamPath(const std::string &key = {}) {
@@ -29,8 +27,8 @@ public:

  // helpers for reading values
  std::string get(const std::string &key, bool block = false);
-  inline bool getBool(const std::string &key, bool block = false) {
-    return get(key, block) == "1";
+  inline bool getBool(const std::string &key) {
+    return get(key) == "1";
  }
  std::map<std::string, std::string> readAll();

@@ -1,9 +1,8 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking
-assert put_bool_nonblocking

 if __name__ == "__main__":
  import sys
@@ -2,7 +2,6 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from libcpp.vector cimport vector
 import threading

 cdef extern from "common/params.h":
@@ -16,14 +15,13 @@ cdef extern from "common/params.h":
  cdef cppclass c_Params "Params":
    c_Params(string) nogil
    string get(string, bool) nogil
-    bool getBool(string, bool) nogil
+    bool getBool(string) nogil
    int remove(string) nogil
    int put(string, string) nogil
    int putBool(string, bool) nogil
    bool checkKey(string) nogil
    string getParamPath(string) nogil
    void clearAll(ParamKeyType)
-    vector[string] allKeys()


 def ensure_bytes(v):
@@ -68,11 +66,11 @@ cdef class Params:

    return val if encoding is None else val.decode(encoding)

-  def get_bool(self, key, bool block=False):
+  def get_bool(self, key):
    cdef string k = self.check_key(key)
    cdef bool r
    with nogil:
-      r = self.p.getBool(k, block)
+      r = self.p.getBool(k)
    return r

  def put(self, key, dat):
@@ -92,7 +90,7 @@ cdef class Params:
    with nogil:
      self.p.putBool(k, val)

-  def remove(self, key):
+  def delete(self, key):
    cdef string k = self.check_key(key)
    with nogil:
      self.p.remove(k)
@@ -101,11 +99,12 @@ cdef class Params:
    cdef string key_bytes = ensure_bytes(key)
    return self.p.getParamPath(key_bytes).decode("utf-8")

-  def all_keys(self):
-    return self.p.allKeys()
-
 def put_nonblocking(key, val, d=""):
-  threading.Thread(target=lambda: Params(d).put(key, val)).start()
+  def f(key, val):
+    params = Params(d)
+    cdef string k = ensure_bytes(key)
+    params.put(k, val)

-def put_bool_nonblocking(key, bool val, d=""):
-  threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()
+  t = threading.Thread(target=f, args=(key, val))
+  t.start()
+  return t
@@ -1,34 +0,0 @@
-#pragma once
-
-#include <cassert>
-#include <string>
-
-#include "common/params.h"
-#include "common/util.h"
-
-class OpenpilotPrefix {
-public:
-  OpenpilotPrefix(std::string prefix = {}) {
-    if (prefix.empty()) {
-      prefix = util::random_string(15);
-    }
-    msgq_path = "/dev/shm/" + prefix;
-    bool ret = util::create_directories(msgq_path, 0777);
-    assert(ret);
-    setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
-  }
-
-  ~OpenpilotPrefix() {
-    auto param_path = Params().getParamPath();
-    if (util::file_exists(param_path)) {
-      std::string real_path = util::readlink(param_path);
-      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
-      unlink(param_path.c_str());
-    }
-    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
-    unsetenv("OPENPILOT_PREFIX");
-  }
-
-private:
-  std::string msgq_path;
-};
@@ -15,7 +15,7 @@ from system.hardware import PC, TICI
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
 DT_TRML = 0.5  # thermald and manager
-DT_DMON = 0.1 # driver monitoring
+DT_DMON = 0.05 # driver monitoring


 class Priority:
@@ -31,7 +31,7 @@ class Priority:

 def set_realtime_priority(level: int) -> None:
  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # pylint: disable=no-member
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined] # pylint: disable=no-member


 def set_core_affinity(cores: List[int]) -> None:
@@ -90,7 +90,6 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
  return np.hstack((view_from_road, [[0], [height], [0]]))


-
 # aka 'extrinsic_matrix'
 def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
  device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
@@ -108,6 +107,12 @@ def vp_from_ke(m):
  return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])


+def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
+  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
+  ke = np.dot(intrinsics, e)
+  return vp_from_ke(ke)
+
+
 def roll_from_ke(m):
  # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
  return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
@@ -171,3 +176,11 @@ def img_from_device(pt_device):
  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, intrinsics=fcam_intrinsics):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  calib_frame_from_ground = np.dot(intrinsics,
+                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
+  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
+  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
+  return camera_frame_from_calib_frame
@@ -1,7 +1,10 @@
 import numpy as np

 from common.transformations.camera import (FULL_FRAME_SIZE,
-                                           get_view_frame_from_calib_frame)
+                                           FOCAL,
+                                           get_view_frame_from_road_frame,
+                                           get_view_frame_from_calib_frame,
+                                           vp_from_ke)

 # segnet
 SEGNET_SIZE = (512, 384)
@@ -11,6 +14,21 @@ def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=
                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
 segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx

+# model
+MODEL_INPUT_SIZE = (320, 160)
+MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
+MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
+MODEL_CY = 21.
+
+model_fl = 728.0
+model_height = 1.22
+
+# canonical model transform
+model_intrinsics = np.array([
+  [model_fl,  0.0,  MODEL_CX],
+  [0.0,  model_fl,  MODEL_CY],
+  [0.0,  0.0,            1.0]])
+

 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
@@ -45,73 +63,104 @@ sbigmodel_intrinsics = np.array([
  [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
  [0.0,  0.0,                                     1.0]])

+model_frame_from_road_frame = np.dot(model_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_calib_frame(0, 0, 0, 0))

+sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))

 sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
  get_view_frame_from_calib_frame(0, 0, 0, 0))

+medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
 medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
  get_view_frame_from_calib_frame(0, 0, 0, 0))

+model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))


-### This function mimics the update_calibration logic in modeld.cc
-### Manually verified to give similar results to xx.uncommon.utils.transform_img
-def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from common.transformations.orientation import rot_from_euler
-  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
+# 'camera from model camera'
+def get_model_height_transform(camera_frame_from_road_frame, height):
+  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, 0],
+    [0, 0, 1],
+  ]))

-  if tici and wide_cam:
-    intrinsics = tici_ecam_intrinsics
-  elif tici:
-    intrinsics = tici_fcam_intrinsics
+  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
+    [1, 0, 0],
+    [0, 1, 0],
+    [0, 0, height - model_height],
+    [0, 0, 1],
+  ]))
+
+  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
+  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
+
+  return high_camera_from_low_camera
+
+
+# camera_frame_from_model_frame aka 'warp matrix'
+# was: calibration.h/CalibrationTransform
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
+  vp = vp_from_ke(camera_frame_from_road_frame)
+
+  model_zoom = camera_fl / model_fl
+  model_camera_from_model_frame = np.array([
+    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
+    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
+    [0.0,  0.0,                                   1.0],
+  ])
+
+  # This function is super slow, so skip it if height is very close to canonical
+  # TODO: speed it up!
+  if abs(height - model_height) > 0.001:
+    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
  else:
-    intrinsics = eon_fcam_intrinsics
+    camera_from_model_camera = np.eye(3)

-  if big_model:
-    sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
-    calib_from_model = np.linalg.inv(sbigmodel_from_calib)
+  return np.dot(camera_from_model_camera, model_camera_from_model_frame)
+
+
+def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
+
+  ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
+  camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
+
+  return camera_frame_from_medmodel_frame
+
+
+def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
+
+  ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
+  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
+
+  return camera_frame_from_bigmodel_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.ones(size[0] * size[1])]).T).T.astype(int)
+  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:
+    calib = calib_flat.reshape((size[1], size[0]))
  else:
-    medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
-    calib_from_model = np.linalg.inv(medmodel_from_calib)
-  device_from_calib = rot_from_euler(rpy_calib)
-  camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
-  warp_matrix = camera_from_calib.dot(calib_from_model)
-  return warp_matrix
-
-
-### This is old, just for debugging
-def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from common.transformations.orientation import rot_from_euler
-  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
-
-
-  def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-    device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
-    view_from_road = view_frame_from_device_frame.dot(device_from_road)
-    return np.hstack((view_from_road, [[0], [height], [0]]))
-
-  if tici and wide_cam:
-    intrinsics = tici_ecam_intrinsics
-  elif tici:
-    intrinsics = tici_fcam_intrinsics
-  else:
-    intrinsics = eon_fcam_intrinsics
-
-  model_height = 1.22
-  if big_model:
-    model_from_road = np.dot(sbigmodel_intrinsics,
-             get_view_frame_from_road_frame(0, 0, 0, model_height))
-  else:
-    model_from_road = np.dot(medmodel_intrinsics,
-             get_view_frame_from_road_frame(0, 0, 0, model_height))
-  ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
-
-  E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
-  camera_frame_from_road_frame = intrinsics.dot(E)
-  camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
-  warp_matrix = camera_frame_from_ground .dot(ground_from_model)
-  return warp_matrix
+    raise ValueError("shape of input img is weird")
+  return calib
@@ -1,4 +1,4 @@
-/* Generated by Cython 0.29.24 */
+/* Generated by Cython 0.29.26 */

 /* BEGIN: Cython Metadata
 {
@@ -32,8 +32,8 @@ END: Cython Metadata */
 #elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
    #error Cython requires Python 2.6+ or Python 3.3+.
 #else
-#define CYTHON_ABI "0_29_24"
-#define CYTHON_HEX_VERSION 0x001D18F0
+#define CYTHON_ABI "0_29_26"
+#define CYTHON_HEX_VERSION 0x001D1AF0
 #define CYTHON_FUTURE_DIVISION 1
 #include <stddef.h>
 #ifndef offsetof
@@ -180,7 +180,7 @@ END: Cython Metadata */
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
-  #if PY_VERSION_HEX < 0x030300F0
+  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -199,7 +199,7 @@ END: Cython Metadata */
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_PYCALL
-    #define CYTHON_FAST_PYCALL 1
+    #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030B00A1)
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -218,7 +218,9 @@ END: Cython Metadata */
 #define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
 #endif
 #if CYTHON_USE_PYLONG_INTERNALS
-  #include "longintrepr.h"
+  #if PY_MAJOR_VERSION < 3
+    #include "longintrepr.h"
+  #endif
  #undef SHIFT
  #undef BASE
  #undef MASK
@@ -349,9 +351,68 @@ class __Pyx_FakeReference {
  #define __Pyx_DefaultClassType PyClass_Type
 #else
  #define __Pyx_BUILTIN_MODULE_NAME "builtins"
-#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
-  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
-          PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+  #define __Pyx_DefaultClassType PyType_Type
+#if PY_VERSION_HEX >= 0x030B00A1
+    static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
+                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
+                                                    PyObject *fv, PyObject *cell, PyObject* fn,
+                                                    PyObject *name, int fline, PyObject *lnos) {
+        PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
+        PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
+        const char *fn_cstr=NULL;
+        const char *name_cstr=NULL;
+        PyCodeObject* co=NULL;
+        PyObject *type, *value, *traceback;
+        PyErr_Fetch(&type, &value, &traceback);
+        if (!(kwds=PyDict_New())) goto end;
+        if (!(argcount=PyLong_FromLong(a))) goto end;
+        if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
+        if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
+        if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
+        if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
+        if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
+        if (!(nlocals=PyLong_FromLong(l))) goto end;
+        if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
+        if (!(stacksize=PyLong_FromLong(s))) goto end;
+        if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
+        if (!(flags=PyLong_FromLong(f))) goto end;
+        if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
+        if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
+        if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
+        if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
+        if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
+        if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
+        if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
+        Py_XDECREF((PyObject*)co);
+        co = (PyCodeObject*)call_result;
+        call_result = NULL;
+        if (0) {
+            cleanup_code_too:
+            Py_XDECREF((PyObject*)co);
+            co = NULL;
+        }
+        end:
+        Py_XDECREF(kwds);
+        Py_XDECREF(argcount);
+        Py_XDECREF(posonlyargcount);
+        Py_XDECREF(kwonlyargcount);
+        Py_XDECREF(nlocals);
+        Py_XDECREF(stacksize);
+        Py_XDECREF(replace);
+        Py_XDECREF(call_result);
+        Py_XDECREF(empty);
+        if (type) {
+            PyErr_Restore(type, value, traceback);
+        }
+        return co;
+    }
 #else
  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
          PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -589,10 +650,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
 #else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
 #endif
 #if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
@@ -762,6 +823,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
    (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
 static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
 static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
 #if CYTHON_ASSUME_SAFE_MACROS
 #define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
 #else
@@ -1345,6 +1407,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
 #ifndef Py_MEMBER_SIZE
 #define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
 #endif
+#if CYTHON_FAST_PYCALL
  static size_t __pyx_pyframe_localsplus_offset = 0;
  #include "frameobject.h"
  #define __Pxy_PyFrame_Initialize_Offsets()\
@@ -1352,6 +1415,7 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
     (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
  #define __Pyx_PyFrame_GetLocalsplus(frame)\
    (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
+#endif // CYTHON_FAST_PYCALL
 #endif

 /* PyObjectCall.proto */
@@ -6278,6 +6342,9 @@ static PyTypeObject __pyx_type_6common_15transformations_15transformations_Local
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
+  #if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM+0 >= 0x06000000
+  0, /*tp_pypy_flags*/
+  #endif
 };

 static PyMethodDef __pyx_methods[] = {
@@ -9042,7 +9109,7 @@ static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int
    }
    if (!use_cline) {
        c_line = 0;
-        PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
    }
    else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
        c_line = 0;
@@ -9139,30 +9206,31 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
 static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
            const char *funcname, int c_line,
            int py_line, const char *filename) {
-    PyCodeObject *py_code = 0;
-    PyObject *py_srcfile = 0;
-    PyObject *py_funcname = 0;
+    PyCodeObject *py_code = NULL;
+    PyObject *py_funcname = NULL;
    #if PY_MAJOR_VERSION < 3
+    PyObject *py_srcfile = NULL;
    py_srcfile = PyString_FromString(filename);
-    #else
-    py_srcfile = PyUnicode_FromString(filename);
-    #endif
    if (!py_srcfile) goto bad;
+    #endif
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
+        funcname = PyUnicode_AsUTF8(py_funcname);
+        if (!funcname) goto bad;
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
-        #else
-        py_funcname = PyUnicode_FromString(funcname);
+        if (!py_funcname) goto bad;
        #endif
    }
-    if (!py_funcname) goto bad;
+    #if PY_MAJOR_VERSION < 3
    py_code = __Pyx_PyCode_New(
        0,
        0,
@@ -9181,11 +9249,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
-    Py_DECREF(py_funcname);
+    #else
+    py_code = PyCode_NewEmpty(filename, funcname, py_line);
+    #endif
+    Py_XDECREF(py_funcname);  // XDECREF since it's only set on Py3 if cline
    return py_code;
 bad:
-    Py_XDECREF(py_srcfile);
    Py_XDECREF(py_funcname);
+    #if PY_MAJOR_VERSION < 3
+    Py_XDECREF(py_srcfile);
+    #endif
    return NULL;
 }
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -10361,6 +10434,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_DECREF(x);
  return ival;
 }
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
+  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
+    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
+#if PY_MAJOR_VERSION < 3
+  } else if (likely(PyInt_CheckExact(o))) {
+    return PyInt_AS_LONG(o);
+#endif
+  } else {
+    Py_ssize_t ival;
+    PyObject *x;
+    x = PyNumber_Index(o);
+    if (!x) return -1;
+    ival = PyInt_AsLong(x);
+    Py_DECREF(x);
+    return ival;
+  }
+}
 static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
  return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
 }
@@ -75,19 +75,16 @@ int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);

 std::string hexdump(const uint8_t* in, const size_t size);
-std::string random_string(std::string::size_type length);
 std::string dir_name(std::string const& path);

 // **** file fhelpers *****
 std::string read_file(const std::string& fn);
 std::map<std::string, std::string> read_files_in_dir(const std::string& path);
-void remove_files_in_dir(const std::string& path);
 int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);

 FILE* safe_fopen(const char* filename, const char* mode);
 size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
 int safe_fflush(FILE *stream);
-int safe_ioctl(int fd, unsigned long request, void *argp);

 std::string readlink(const std::string& path);
 bool file_exists(const std::string& fn);
@@ -1 +1 @@
-#define COMMA_VERSION "2023.02.08"
+#define COMMA_VERSION "2022.07.29"
@@ -2,244 +2,234 @@

 # Supported Cars

-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
+A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.

-# 220 Supported Cars
+## How We Rate The Cars

-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Genesis|GV60 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
-|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Sonata 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
-|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>10</sup>](#footnotes)|
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+### Stop and Go
+- [![star](assets/icon-star-full.svg)](##) - openpilot operates down to 0 mph.
+- [![star](assets/icon-star-empty.svg)](##) - openpilot operates only above a minimum speed. See your car's manual for the minimum speed.
+
+### Steer to 0
+- [![star](assets/icon-star-full.svg)](##) - openpilot can control the steering wheel down to 0 mph.
+- [![star](assets/icon-star-empty.svg)](##) - No steering control below certain speeds. See your car's manual for the minimum speed.
+
+### Steering Torque
+- [![star](assets/icon-star-full.svg)](##) - Car has enough steering torque to comfortably take most highway turns.
+- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
+
+
+# 196 Supported Cars
+
+|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
+|---|---|---|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Acura|RDX 2016-18|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Acura|RDX 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Audi|A3 2014-19|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|Q2 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|CR-V 2015-16|Touring|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Fit 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Freed 2020|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Odyssey 2018-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Hyundai|Elantra 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Genesis 2015-16|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2018-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Hybrid 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata 2018-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson Diesel 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Veloster 2019-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Ceed 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|EV6 2022[<sup>3</sup>](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2019-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|K5 2021-22|SCC|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2022|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2017|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Seltos 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Stinger 2018-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Telluride 2020|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Altima 2019-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Leaf 2018-22|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Rogue 2018-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|X-Trail 2017|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Ram|1500 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Crosstrek 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Crosstrek 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Impreza 2017-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Scala 2020|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon 2018-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon R 2020-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|CC 2018-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf 2015-20[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf R 2015-19[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta GLI 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat 2015-22[<sup>7,8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat Alltrack 2015-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat GTE 2015-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo GTI 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont X 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|

 <a id="footnotes"></a>
-<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
-<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a>, additional <a href="https://comma.ai/shop/harness-box" target="_blank">harness box</a>, additional <a href="https://comma.ai/shop/obd-c-cable" target="_blank">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle. <br />
-<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>9</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>3</sup>Requires a <a href='https://comma.ai/shop/products/panda'>red panda</a> and additional <a href='https://comma.ai/shop/products/harness-box'>harness box.</a> <br />
+<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>9</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />

 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -247,13 +237,13 @@ Although they're not upstream, the community has openpilot running on other make
 # Don't see your car here?

 **openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
-If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you!
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!

 ### Which cars are able to be supported?

-openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.
+openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.

-If your car has the following packages or features, then it's a good candidate for support.
+If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.

 | Make | Required Package/Features |
 | ---- | ------------------------- |
@@ -271,9 +261,8 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi

 ### Toyota Security

-openpilot does not yet support these Toyota models due to a new message authentication method.
-[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
-
+Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
+So far, this list includes:
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
 * Toyota Venza 2021+
@@ -282,4 +271,4 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Corolla Cross 2022+ (only US model)
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
-* Subaru Solterra 2023+
+* Subaru Solterra 2023+
@@ -8,4 +8,4 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
 * Stock ACC is replaced by openpilot ACC.
 * openpilot FCW operates in addition to stock FCW.

-openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
+openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
@@ -1,39 +0,0 @@
-# OSM Installation instructions:
-# https://wiki.openstreetmap.org/wiki/Overpass_API/Installation
-
-# Install expat. All other needed libraries are already installed.
-# g++ make expat libexpat1-dev zlib1g-dev
-#sudo apt-get update
-#sudo apt-get install expat
-
-# Add required path variables to environment
-export OSM_ROOT=/data/media/0/osm
-if [ -f /TICI ]; then
-  export OSM_VERSION=0.7.57
-else
-  export OSM_VERSION=0.7.56
-fi
-export GZ_FILE=osm-3s_v${OSM_VERSION}.tar.xz
-export OSM_DIR=${OSM_ROOT}/${OSM_VERSION}
-# export DB_DIR=/data/osm/db/
-
-# Download and extract overpass library
-
-if [ ! -d ${OSM_ROOT} ]; then
-  mkdir -p ${OSM_ROOT}
-fi
-tar -vxf /data/openpilot/selfdrive/mapd/assets/${GZ_FILE} -C ${OSM_ROOT}
-
-# Configure and install overpass
-#cd $(ls | grep $SOURCE_FILE_ROOT\.[0-9]*)
-#cd osm-3s_v0.7.56
-#./configure CXXFLAGS="-O2" --prefix=$EXEC_DIR
-#make install
-
-# Remove source files after installation
-#cd ..
-if [ -d ${OSM_DIR} ]; then
-  rm -fr ${OSM_DIR}
-fi
-
-mv ${OSM_ROOT}/osm-3s_v${OSM_VERSION} ${OSM_ROOT}/v${OSM_VERSION}
@@ -1,34 +0,0 @@
-export OSM_DIR=/data/media/0/osm
-
-export OSM_LOCATION=$(cat /data/params/d/OsmLocationUrl)
-
-export OSM_LOCATION_TEXT=$(cat /data/params/d/OsmLocationName)
-
-export XZ_MAP_FILE_NAME=${OSM_LOCATION_TEXT}.tar.xz
-export XZ_MAP_FILE=${OSM_DIR}/${XZ_MAP_FILE_NAME}
-
-# WD
-cd $OSM_DIR
-
-# Remove legacy compressed map file if existing
-rm -rf $XZ_MAP_FILE
-
-# Download map file
-wget -O ${XZ_MAP_FILE_NAME} ${OSM_LOCATION}
-
-if [[ "$?" != 0 ]]; then
-  echo "Error downloading map file"
-else
-  echo "Successfully downloaded map file"
-  # Remove current db dir if existing
-  rm -rf ${DB_DIR}/db
-  if [ -d ${OSM_DIR}/${OSM_LOCATION_TEXT} ]; then
-    rm -rf ${OSM_DIR}/${OSM_LOCATION_TEXT}
-  fi
-  # Decompressing
-  tar -vxf ${XZ_MAP_FILE_NAME}
-  mv ${OSM_LOCATION_TEXT} db
-
-  # Remove compressed map files after expanding
-  rm -rf $XZ_MAP_FILE
-fi
@@ -11,9 +11,8 @@ from datetime import datetime
 from math import sin, cos, sqrt, fabs, atan2

 from .gps_time import GPSTime, utc_to_gpst
-from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, \
-                       SECS_IN_WEEK, EARTH_ROTATION_RATE, EARTH_GM
-from .helpers import get_constellation, get_prn_from_nmea_id
+from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, EARTH_ROTATION_RATE, EARTH_GM
+from .helpers import get_constellation


 def read4(f, rinex_ver):
@@ -75,7 +74,7 @@ class EphemerisType(IntEnum):
  FINAL_ORBIT = 1
  RAPID_ORBIT = 2
  ULTRA_RAPID_ORBIT = 3
-  QCOM_POLY = 4
+  QCOM_POLY = 4  # Currently not supported

  @staticmethod
  def all_orbits():
@@ -226,8 +225,7 @@ class GLONASSEphemeris(Ephemeris):


 class PolyEphemeris(Ephemeris):
-  def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType,
-               file_epoch: GPSTime=None, file_name: str=None, healthy=True, tgd=0):
+  def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType, file_epoch: GPSTime, file_name: str, healthy=True, tgd=0):
    super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=SECS_IN_HR, file_epoch=file_epoch, file_name=file_name)
    self.tgd = tgd
    self.to_json()
@@ -532,25 +530,28 @@ def parse_rinex_nav_msg_glonass(file_name):
  return ephems


-def parse_qcom_ephem(qcom_poly, current_week):
-  svId = qcom_poly.svId
-  data = qcom_poly
-  t0 = data.t0
-  # fix glonass time
-  prn = get_prn_from_nmea_id(svId)
-  if prn == 'GLONASS':
-    # TODO should handle leap seconds better
-    epoch = GPSTime(current_week, (t0 + 3*SECS_IN_WEEK) % (SECS_IN_WEEK) + 18)
-  else:
-    epoch = GPSTime(current_week, t0)
-  poly_data = {}
-  poly_data['t0'] = epoch
-  poly_data['xyz'] = np.array([
-                      [data.xyz0[0], data.xyzN[0], data.xyzN[1], data.xyzN[2]],
-                      [data.xyz0[1], data.xyzN[3], data.xyzN[4], data.xyzN[5]],
-                      [data.xyz0[2], data.xyzN[6], data.xyzN[7], data.xyzN[8]] ]).T
+'''

-  poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]]
-  poly_data['deg'] = 3
-  poly_data['deg_t'] = 3
-  return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY)
+def parse_qcom_ephems(qcom_polys, current_week):
+  ephems = []
+  for qcom_poly in qcom_polys:
+    svId = qcom_poly.qcomGnss.drSvPoly.svId
+    data = qcom_poly.qcomGnss.drSvPoly
+    t0 = data.t0
+    # fix glonass time
+    if get_constellation(svId) == 'GLONASS':
+      # TODO should handle leap seconds better
+      epoch = GPSTime(current_week, (t0 + 3*SECS_IN_WEEK) % (SECS_IN_WEEK) + 18)
+    else:
+      epoch = GPSTime(current_week, t0)
+    poly_data = {}
+    poly_data['t0'] = epoch
+    poly_data['x'] = [data.xyzN[2], data.xyzN[1], data.xyzN[0], data.xyz0[0]]
+    poly_data['y'] = [data.xyzN[5], data.xyzN[4], data.xyzN[3], data.xyz0[1]]
+    poly_data['z'] = [data.xyzN[8], data.xyzN[7], data.xyzN[6], data.xyz0[2]]
+    poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]]
+    poly_data['deg'] = 3
+    poly_data['deg_t'] = 3
+    ephems.append(PolyEphemeris(svId, poly_data, epoch, eph_type=EphemerisType.QCOM_POLY))
+  return ephems
+'''
@@ -53,7 +53,6 @@ def tow_to_datetime(tow, week):


 def get_leap_seconds(time):
-  # TODO use library for this
  if time <= GPSTime.from_datetime(datetime.datetime(2006, 1, 1)):
    raise ValueError("Don't know how many leap seconds to use before 2006")
  elif time <= GPSTime.from_datetime(datetime.datetime(2009, 1, 1)):
@@ -62,7 +61,6 @@ def get_leap_seconds(time):
    return 15
  elif time <= GPSTime.from_datetime(datetime.datetime(2015, 7, 1)):
    return 16
-  # TODO is this correct?
  elif time <= GPSTime.from_datetime(datetime.datetime(2017, 7, 1)):
    return 17
  else:
@@ -153,9 +151,6 @@ class GPSTime:
  def as_datetime(self):
    return tow_to_datetime(self.tow, self.week)

-  def as_unix_timestamp(self):
-    return (gpst_to_utc(self).as_datetime() - datetime.datetime(1970, 1, 1)).total_seconds()
-
  @property
  def day(self):
    return int(self.tow/(24*3600))
@@ -32,13 +32,11 @@ class ConstellationId(IntEnum):
  def from_qcom_source(cls, report_source: int):
    if report_source == 0:
      return ConstellationId.GPS
-    if report_source == 1:
-      return ConstellationId.GLONASS
-    if report_source == 2:
-      return ConstellationId.BEIDOU
    if report_source == 6:
      return ConstellationId.SBAS
-    raise NotImplementedError('Only GPS (0), GLONASS (1), BEIDOU (2) and SBAS (6) are supported from qcom, not:', {report_source})
+    elif report_source == 1:
+      return ConstellationId.GLONASS
+    raise NotImplementedError('Only GPS (0), SBAS (1) and GLONASS (6) are supported from qcom, not:', {report_source})


 # From https://gpsd.gitlab.io/gpsd/NMEA.html#_satellite_ids
@@ -166,11 +166,6 @@ function two_init {
    echo "Installing $MODULE..."
    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
  fi
-  # panda
-  if [ ! -f "$PY_LIB_DEST/spidev.cpython-38.so" ]; then
-    echo "Installing spidev.cpython-38.so..."
-    cp -f "$LIB_PATH/spidev.cpython-38.so" "$PY_LIB_DEST/"
-  fi
  mount -o remount,r /system

  # Check for NEOS update
@@ -221,18 +216,7 @@ function agnos_init {
    fi
    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
  fi
-
-  #dp: change splash logo
-  if [ -f "/usr/comma/.dp_splash" ]; then
-      echo "DP splash exists."
-  else
-      echo "DP splash not deployed yet"
-      sudo mount -o rw,remount /
-      sudo cp /data/openpilot/selfdrive/dragonpilot/bg.jpg /usr/comma/bg.jpg
-      sudo touch /usr/comma/.dp_splash
-      sudo mount -o ro,remount /
-      sudo reboot
-  fi
+  ./custom_dep.py
 }

 function launch {
@@ -285,8 +269,6 @@ function launch {
  if [ -f "/data/media/0/dp_patcher.py" ]; then
    python /data/media/0/dp_patcher.py
  fi
-  # dp - install default ssh key
-  python /data/openpilot/scripts/sshkey_installer.py

  # hardware specific init
  two_init
@@ -296,16 +278,7 @@ function launch {

  # start manager
  cd selfdrive/manager
-  if [ -f /data/params/d/OsmLocal ]; then
-    OSM_LOCAL=`cat /data/params/d/OsmLocal`
-  else
-    OSM_LOCAL="0"
-  fi
-  if [ $OSM_LOCAL = "1" ]; then
-    ./build.py && ./local_osm_install.py && ./manager.py
-  else
-    ./build.py && ./manager.py
-  fi
+  ./build.py && ./manager.py

  # if broken, keep on screen error
  while true; do sleep 1; done
@@ -11,7 +11,7 @@ if [ -z "$NEOS_VERSION" ]; then
 fi

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="6.2"
+  export AGNOS_VERSION="5.2"
 fi

 if [ -z "$PASSIVE" ]; then
@@ -29,7 +29,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
    python-openssl \
    xz-utils \
    zlib1g-dev \
-    cmake \
  && rm -rf /var/lib/apt/lists/*

 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
@@ -52,6 +51,5 @@ COPY SConstruct .
 COPY ./site_scons /project/site_scons
 COPY . /project/opendbc

-RUN rm -rf /project/opendbc/.git && \
-    rm -rf /project/cereal/.git
+RUN rm -rf /project/opendbc/.git
 RUN scons -c && scons -j$(nproc)
@@ -5,7 +5,7 @@ Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/ind

 ## How to start reverse engineering cars

-[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
+[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).

 Use [panda](https://github.com/commaai/panda) to connect your car to a computer.

@@ -182,7 +182,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
 SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h"  NEO
+ SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h"  NEO
 SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
 SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
@@ -18,7 +18,6 @@
 //#define DEBUG printf

 #define MAX_BAD_COUNTER 5
-#define CAN_INVALID_CNT 5

 void init_crc_lookup_tables();

@@ -69,7 +68,6 @@ public:
  uint64_t last_sec = 0;
  uint64_t last_nonempty_sec = 0;
  uint64_t bus_timeout_threshold = 0;
-  uint64_t can_invalid_cnt = CAN_INVALID_CNT;

  CANParser(int abus, const std::string& dbc_name,
            const std::vector<MessageParseOptions> &options,
@@ -71,19 +71,8 @@ struct DBC {
  std::vector<Msg> msgs;
  std::vector<Val> vals;
 };
-
-typedef struct ChecksumState {
-  int checksum_size;
-  int counter_size;
-  int checksum_start_bit;
-  int counter_start_bit;
-  bool little_endian;
-  SignalType checksum_type;
-  unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
-} ChecksumState;
 #ifndef QCOM
 DBC* dbc_parse(const std::string& dbc_path);
-DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr);
 const DBC* dbc_lookup(const std::string& dbc_name);
 std::vector<std::string> get_dbc_names();
 #else
@@ -9,17 +9,6 @@ BO_ 258 STEERING: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 264 ECM_1: 8 XXX
- SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
- SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 280 ECM_TRQ: 8 XXX
- SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
- SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
-
 BO_ 284 ESP_8: 8 XXX
 SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
@@ -40,11 +29,6 @@ BO_ 344 ESP_6: 8 XXX
 SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
 SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX

-BO_ 368 Transmission_Status: 8 XXX
- SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 464 ORC_1: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX

@@ -52,17 +36,10 @@ BO_ 500 DAS_3: 8 XXX
 SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
 SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
 SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
- SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
 SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
+ SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -127,11 +104,7 @@ BO_ 820 BCM_1: 8 XXX
 SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX

-VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
-
 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
-CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
-CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
 CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
 CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
 CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
@@ -155,6 +128,11 @@ BO_ 736 TRIP: 8 XXX
 SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
 SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX

+BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 658 LKAS_COMMAND: 6 XXX
 SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _stellantis_common_ram_dt_generated.dbc starts here";
+CM_ "Imported file _stellantis_common_ram.dbc starts here";
 CM_ "Generated from _stellantis_common.dbc"

 BO_ 35 STEERING: 8 XXX
@@ -11,17 +11,6 @@ BO_ 35 STEERING: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 37 ECM_1: 8 XXX
- SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
- SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 181 ECM_TRQ: 8 XXX
- SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
- SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
-
 BO_ 121 ESP_8: 8 XXX
 SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
@@ -42,11 +31,6 @@ BO_ 139 ESP_6: 8 XXX
 SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
 SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX

-BO_ 147 Transmission_Status: 8 XXX
- SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 464 ORC_1: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX

@@ -54,17 +38,10 @@ BO_ 153 DAS_3: 8 XXX
 SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
 SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
 SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
- SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
 SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
+ SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -129,17 +106,19 @@ BO_ 657 BCM_1: 8 XXX
 SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX

-VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
-
 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
-CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
-CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
 CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
 CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
 CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";

 CM_ "chrysler_ram_dt.dbc starts here";

+BO_ 37 PCM_1: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|1] "" XXX
+ SG_ ENGINE_TRQ_REQ : 23|12@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 53 PCM_2: 8 XXX
 SG_ ENG_TORQUE_REQ : 3|12@0+ (1,0) [0|7] "" XXX
 SG_ ENG_TORQUE_OUT : 19|12@0+ (1,0) [0|1] "" XXX
@@ -161,6 +140,11 @@ BO_ 137 ESP_4: 8 XXX
 SG_ Yaw_Rate : 7|16@0+ (0.01,-327.68) [-327.68|327.66] "deg/s" XXX
 SG_ Acceleration : 32|8@1+ (0.08,-10.24) [-10.24|10.08] "m/s2" XXX

+BO_ 147 Transmission_Status: 8 XXX
+ SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 164 EPS_3: 8 XXX
 SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX
@@ -191,3 +175,4 @@ CM_ SG_ 250 Auto_High_Beam "1 = HIGH BEAMS OK 0 = HIGH BEAMS OFF ";
 CM_ SG_ 250 LKAS_LANE_LINES "9 = LEFT CAUTION, 11 = VERY LEFT CAUTION 10 = RIGHT CAUTION, 14 = VERY RIGHT, 4 = NO LINES DETECTED, 3 = LINES DETECTED, SYSTEM ACTIVE";
 CM_ SG_ 464 Driver_Seatbelt_Status "1 unbuckled 0 buckled";
 CM_ SG_ 792 High_Beam_Lever_Status "1 is high beam, 0 reg";
+VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
@@ -1,157 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-
-
-CM_ "Imported file _stellantis_common_ram_hd_generated.dbc starts here";
-CM_ "Generated from _stellantis_common.dbc"
-
-BO_ 258 STEERING: 8 XXX
- SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX
- SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX
- SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 264 ECM_1: 8 XXX
- SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
- SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 280 ECM_TRQ: 8 XXX
- SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
- SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
-
-BO_ 284 ESP_8: 8 XXX
- SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
- SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 320 ESP_1: 8 XXX
- SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
- SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 344 ESP_6: 8 XXX
- SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
- SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
- SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
- SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
-
-BO_ 368 Transmission_Status: 8 XXX
- SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 464 ORC_1: 8 XXX
- SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 500 DAS_3: 8 XXX
- SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
- SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
- SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
- SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 501 DAS_4: 8 XXX
- SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
- SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
- SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
- SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
- SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
-
-BO_ 544 EPS_2: 8 XXX
- SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
- SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX
- SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
- SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
- SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
- SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 559 ECM_5: 8 XXX
- SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 570 CRUISE_BUTTONS: 3 XXX
- SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 629 DAS_6: 8 XXX
- SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
- SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
- SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
- SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
-
-BO_ 720 BSM_1: 6 XXX
- SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 792 STEERING_LEVERS: 8 XXX
- SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX
- SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX
-
-BO_ 820 BCM_1: 8 XXX
- SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
- SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
-
-VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
-
-CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
-CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
-CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
-CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
-CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
-CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
-
-CM_ "chrysler_ram_hd.dbc starts here";
-
-BO_ 545 EPS_3: 8 XXX
- SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX
- SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 630 LKAS_COMMAND: 8 XXX
- SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX
- SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX
- SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
@@ -1,10 +1,10 @@
-VERSION "0.0.02"
+VERSION ""

 BO_ 513 MOTORS_DATA: 8 XXX
  SG_ SPEED_L : 7|16@0- (1,0) [-1000|1000] "" XXX
  SG_ SPEED_R : 23|16@0- (1,0) [-1000|1000] "" XXX
-  SG_ ELEC_ANGLE_L : 39|8@0+ (1,0) [0|0] "deprecated" XXX
-  SG_ ELEC_ANGLE_R : 47|8@0+ (1,0) [0|0] "deprecated" XXX
+  SG_ ELEC_ANGLE_L : 39|8@0+ (1,0) [0|360] "" XXX
+  SG_ ELEC_ANGLE_R : 47|8@0+ (1,0) [0|360] "" XXX
  SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@@ -27,63 +27,8 @@ BO_ 516 MOTORS_CURRENT: 8 XXX
  SG_ RIGHT_PHA_AB : 39|16@0- (1,0) [-32768|32767] "" XXX
  SG_ RIGHT_PHA_BC : 55|16@0- (1,0) [-32768|32767] "" XXX

-BO_ 517 MOTORS_ANGLE: 8 XXX
-  SG_ LEFT_ANGLE_SENSOR : 7|16@0+ (1,0) [0|16384] "" XXX
-  SG_ RIGHT_ANGLE_SENSOR : 23|16@0+ (1,0) [0|16384] "" XXX
-  SG_ LEFT_HALL_SENSOR : 39|16@0+ (1,0) [0|360] "" XXX
-  SG_ RIGHT_HALL_SENSOR : 55|16@0+ (1,0) [0|360] "" XXX
-
 BO_ 592 TORQUE_CMD: 6 XXX
  SG_ TORQUE_L : 7|16@0- (1,0) [-1000|1000] "" XXX
  SG_ TORQUE_R : 23|16@0- (1,0) [-1000|1000] "" XXX
  SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 593 MAX_MOTOR_RPM_CMD: 5 XXX
-  SG_ MAX_RPM_L : 7|16@0+ (1,0) [0|1000] "" XXX
-  SG_ MAX_RPM_R : 23|16@0+ (1,0) [0|1000] "" XXX
-  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 769 KNEE_MOTORS_DATA: 8 XXX
-  SG_ SPEED_L : 7|16@0- (1,0) [-1000|1000] "" XXX
-  SG_ SPEED_R : 23|16@0- (1,0) [-1000|1000] "" XXX
-  SG_ ELEC_ANGLE_L : 39|8@0+ (1,0) [0|0] "deprecated" XXX
-  SG_ ELEC_ANGLE_R : 47|8@0+ (1,0) [0|0] "deprecated" XXX
-  SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
-  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 770 KNEE_VAR_VALUES: 3 XXX
-  SG_ IGNITION : 0|1@0+ (1,0) [0|1] "" XXX
-  SG_ ENABLE_MOTORS : 1|1@0+ (1,0) [0|1] "" XXX
-  SG_ FAULT : 7|6@0+ (1,0) [0|63] "" XXX
-  SG_ MOTOR_ERR_L : 15|8@0+ (1,0) [0|255] "" XXX
-  SG_ MOTOR_ERR_R : 23|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 771 KNEE_DATA: 4 XXX
-  SG_ MCU_TEMP : 7|8@0+ (0.1,0) [0|125] "" XXX
-  SG_ BATT_VOLTAGE : 15|16@0+ (0.01,0) [0|60] "" XXX
-  SG_ BATT_PERCENTAGE : 31|7@0+ (1,0) [0|100] "" XXX
-  SG_ CHARGER_CONNECTED : 24|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 772 KNEE_MOTORS_CURRENT: 8 XXX
-  SG_ LEFT_PHA_AB : 7|16@0- (1,0) [-32768|32767] "" XXX
-  SG_ LEFT_PHA_BC : 23|16@0- (1,0) [-32768|32767] "" XXX
-  SG_ RIGHT_PHA_AB : 39|16@0- (1,0) [-32768|32767] "" XXX
-  SG_ RIGHT_PHA_BC : 55|16@0- (1,0) [-32768|32767] "" XXX
-
-BO_ 773 KNEE_MOTORS_ANGLE: 8 XXX
-  SG_ LEFT_ANGLE_SENSOR : 7|16@0+ (1,0) [0|16384] "" XXX
-  SG_ RIGHT_ANGLE_SENSOR : 23|16@0+ (1,0) [0|16384] "" XXX
-  SG_ LEFT_HALL_SENSOR : 39|16@0+ (1,0) [0|360] "" XXX
-  SG_ RIGHT_HALL_SENSOR : 55|16@0+ (1,0) [0|360] "" XXX
-
-BO_ 848 KNEE_TORQUE_CMD: 6 XXX
-  SG_ TORQUE_L : 7|16@0- (1,0) [-1000|1000] "" XXX
-  SG_ TORQUE_R : 23|16@0- (1,0) [-1000|1000] "" XXX
-  SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" XXX
-  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 849 KNEE_MAX_MOTOR_RPM_CMD: 5 XXX
-  SG_ MAX_RPM_L : 7|16@0+ (1,0) [0|1000] "" XXX
-  SG_ MAX_RPM_R : 23|16@0+ (1,0) [0|1000] "" XXX
-  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
@@ -1126,8 +1126,7 @@ BO_ 984 IPMA_Data: 8 IPMA_ADAS
 SG_ DasStats_D_Dsply : 47|2@0+ (1,0) [0|3] "SED" GWM
 SG_ DasWarn_D_Dsply : 44|2@0+ (1,0) [0|3] "SED" GWM
 SG_ AhbHiBeam_D_Rq : 59|2@0+ (1,0) [0|3] "SED" GWM
- SG_ Passthru_63 : 63|4@0+ (1,0) [0|15] "" XXX
- SG_ Passthru_48 : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ Set_Me_X1 : 63|4@0+ (1,0) [0|15] "" XXX

 BO_ 985 IPMA_Data2: 8 IPMA_ADAS
 SG_ LdwChime_B_Rq : 34|1@0+ (1,0) [0|1] "SED" GWM
@@ -3646,258 +3645,6 @@ BO_TX_BU_ 357 : ECM_Diesel,PCM,PCM_HEV;
 BO_TX_BU_ 342 : ECM_Diesel,PCM,PCM_HEV;
 BO_TX_BU_ 71 : ECM_Diesel,PCM,PCM_HEV;

-CM_ "New CAN FD network";
-CM_ BU_ CMR_DSMC "Driver Status Monitor Camera";
-CM_ BU_ IPMA_ADAS "Assist Driving Alert System";
-CM_ BU_ PSCM "Passenger Front Climate Control Seat Module";
-CM_ BU_ ABS_ESC "Anti-lock Brake / Traction Control Module";
-CM_ BU_ TCCM "Transfer Case Control Module, 4x4 Control Module";
-CM_ BU_ TCM_DSL "Transmission Control Module";
-CM_ BU_ PCM "Powertrain Control Module";
-CM_ BU_ ECM_Diesel "Diesel";
-CM_ BU_ GWM "Gateway Module CGEA1.3(Star Architecture)";
-CM_ BU_ TSTR "Diagnostic Tester";
-
-CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt "Signal not transmitted on gas variants.";
-CM_ SG_ 1150 LocationServices_1 "Tx by HS3 APIM";
-CM_ SG_ 542 LocationServices_3 "Tx by HS3 APIM";
-CM_ SG_ 810 NtfyDrvTrgtDist_L_Rq "Object.SetTripRangeAlert_Rq This signal is meant to provide the customer settings for the target distance remote notification";
-CM_ SG_ 810 NtfyDrvSocLvl1_Pc_Rq "Object.SetCustomerLevelAlert_Rq This signal is meant to provide the customer settings for the SOC remote notification.";
-CM_ SG_ 810 PtRmtRprt_D_Stat "Object.RemoteDataReport_St";
-CM_ SG_ 550 PtWakeupActv1_B_Rq "ECG Application signal";
-CM_ SG_ 982 LatCtlPath_No_Cnt "Signal not transmitted on gas variants.";
-CM_ SG_ 982 LatCtlPath_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 1104 DrvEngageLevel_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 1104 DrvEngageLevel_No_Cnt "Signal not transmitted on gas variants.";
-CM_ SG_ 1085 ULoRgenTestMde_B_Stat "Signal not transmitted on HEV variants.";
-CM_ SG_ 1085 PwSrcULoComm_B_Falt "Signal not transmitted on HEV variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMReserved4 "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMReserved3 "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMReserved2 "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMReserved1 "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMNodeId "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMControl "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1088 HvacPrecondMode2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature.";
-CM_ SG_ 1088 HvacPrecondBlwr2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature.";
-CM_ SG_ 786 ChrgStat_D_Dsply "Signal not transmitted by PCM_HEV";
-CM_ SG_ 66 immoControlData_T2 "Not transmitted on all vehicle variants";
-CM_ SG_ 66 immoControlCmd_T2 "Not transmitted on all vehicle variants";
-CM_ SG_ 549 BeltminderAudioMute "Object.MyKey.BeltMinderAudioMute.St";
-CM_ SG_ 549 Power_Up_Chime_Modules "Object.AlertMethod.IPC _Infotainment";
-CM_ SG_ 549 Chime_Source "Object.AlertMethod.IPC_infotainment";
-CM_ SG_ 611 AwdStat_D_RqDsply "Signal not transmitted on programs that do not have AWD.";
-CM_ SG_ 611 AwdSrvcRqd_B_Rq "Signal not transmitted on programs that do not have AWD.";
-CM_ SG_ 611 AwdLck_Tq_Rq "Signal not transmitted on programs that do not have AWD.";
-CM_ SG_ 130 VehVTrlrAid_B_Rq "VR session start- req. limit blower speed no more than X volts.  CC restriction on time msg. will be honored.Double Event msg1st event to request limit, 2nd event to release limit, No msg. CC Grammar v7.xls";
-CM_ SG_ 130 SteMdule_U_Meas "DCR 1745  to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)";
-CM_ SG_ 130 SteMdule_I_Est "DCR 1745  to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)";
-CM_ SG_ 126 StePinRelInit_An_Sns "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
-CM_ SG_ 126 StePinAn_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 1200 BrkTot_Tq_RqDrv "DCR 1836 to update Tx from GWM to EP100ms rejected due MPS6 TCM requires BrkTot_Tq_RqDrv at 20ms (bshu1).";
-CM_ SG_ 1046 TCMode "Signal data set to 0x0 for ABS only vehicle option content";
-CM_ SG_ 1046 DrvAntiLckLamp_D_Rq "update value table v8.34, not align w/GSDB, need etracker.  ABS & IPC implemented as updated.";
-CM_ SG_ 1046 BpedMove_D_Actl "CCMGenSigTimeoutTime=1000";
-CM_ SG_ 1044 StePinOffst_An_Est "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
-CM_ SG_ 1044 StePinOffst_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 534 BrkObdData_No_Actl "Signal not transmitted on gas, diesel and HEV.  Only supported on PHEV.";
-CM_ SG_ 534 BrkObdIndex_No_Actl "Signal not transmitted on gas, diesel and HEV.  Only supported on PHEV.";
-CM_ SG_ 534 WhlRotatRr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
-CM_ SG_ 534 WhlRotatRl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
-CM_ SG_ 534 WhlRotatFr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
-CM_ SG_ 534 WhlRotatFl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
-CM_ SG_ 531 VehLongOvrGnd_A_Est "CCMGenSigTimeoutTime=1000";
-CM_ SG_ 1034 VehicleGGCCData "RCMGenSigTimeout=6000";
-CM_ SG_ 1090 Mtr2State_D_ActlMntr "Signal Not transmitted on PCM_HEV variant";
-CM_ SG_ 1090 Inv1Ain_I_ActlMntr "Signal Not transmitted on PCM_HEV variant";
-CM_ SG_ 1090 VehElRnge_L_Dsply "Signal Not transmitted on HPCM variant";
-CM_ SG_ 374 TrnRng_D_Rq "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 TrnPrkSys_D_Actl "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearLvr_D_ActlDrv "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearPos_No_Cs "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearPos_D_Trg "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearPos_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearPos_D_Actl "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 603 WhlDirAvgDrv_D_Actl "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
-CM_ SG_ 603 PrplTqMnRgen_B_Actl "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
-CM_ SG_ 603 BattTracCnnct_D_Rq "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
-CM_ SG_ 872 HybMdeStat_D_Dsply "Signal not transmitted by HPCM";
-CM_ SG_ 560 SelDrvMdeSwtch_D_Stat3 "ECM_HEV,  PCM & PCM_HEV do not support or Transmit signal.";
-CM_ SG_ 560 TrnSrvcRqd_B_Rq "Signal not transmitted on Diesel & HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
-CM_ SG_ 560 TrnShifActv_B_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
-CM_ SG_ 560 GboxOil_Te_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
-CM_ SG_ 369 SeatWorkSrfc_B_Falt "Signal Not transmitted by TCM_DSL";
-CM_ SG_ 369 TrnIpcDsplyRng2_D_Actl "Signal not transmitted on HEV variants.";
-CM_ SG_ 369 TrnIpcDsplyRng_D_Stat "Signal not transmitted on HEV variants.";
-CM_ SG_ 92 TrnLvrV_D_Rq "Signal not transmitted on vehicles with PCM_HEV";
-CM_ SG_ 92 TrnSbwSysHlth_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearNtmAllow_B_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnDtpCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearCmd_No_Cs "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnValidGear_D_Cnfm "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnNtrlTowCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearCmd_Pc_ActlPt "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGear_D_RqPt "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnCmdState_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnCmdCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 PrkBrkActv_D_RqTrnGear "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearMsgTxt_D_Rq "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearCmd_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 1087 BattRgenLoChrg_D_RqEng "Signal not transmitted on diesel variant";
-CM_ SG_ 1087 BattRgenLoDChrg_D_RqEng "Signal not transmitted on diesel variant";
-CM_ SG_ 1087 FapLcInhbt_B_Rq "Signal not transmitted on diesel variant";
-CM_ SG_ 1100 EngExhMdeQuiet_D2_Stat "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1100 HvacCmprLim_D_Stat "Signal not transmitted on Diesel variants";
-CM_ SG_ 1100 WakeAlarm1_T_Rq "Signal not transmitted on Gas variants";
-CM_ SG_ 1100 WakeAlarm1_B_Typ "Signal not transmitted on Gas variants";
-CM_ SG_ 1100 Veh_V_DsplyTrailCtlSet "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1100 TrailCtlPt_B_Falt "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1100 AutoTowAllw_D_StatMnu "Signal not transmitted on Gas & Diesel variants";
-CM_ SG_ 1100 AutoTowActv_B_Stat "Signal not transmitted on Gas & Diesel variants";
-CM_ SG_ 1086 EngMnfld_P_Actl "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1086 ElLoadCtl_D_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 1071 CluPdl_PcRate_Actl "Signal not transmitted on HEV and Gas variants.";
-CM_ SG_ 1071 CluPdlPosPcMeas_D_Qf "Signal not transmitted on HEV and Gas variants.";
-CM_ SG_ 1071 CluPdlPos_Pc_Meas "Signal not transmitted on HEV and Gas variants.";
-CM_ SG_ 1071 EngAoutIdl_N_Ntrl "Signal not transmitted on HEV variants and diesel.";
-CM_ SG_ 1069 SlMde_D_Stat "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 1069 SlMde_D_RqDsply "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 1069 IsaOffst_D_Stat "Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 1069 ObdWarmUp_B_Complt "Signal not transmitted on diesel variants.";
-CM_ SG_ 1069 EngMsgTxt_D_Rq "Signal not transmitted on diesel variants.";
-CM_ SG_ 1069 EngClnt_Te_ActlDiag "Signal not transmitted on gas variants.";
-CM_ SG_ 1069 EngLoad_Pc_CalcDiag "Signal not transmitted on gas variants.";
-CM_ SG_ 1069 ApedPos_Pc_ActlDiag "Signal not transmitted on gas variants.";
-CM_ SG_ 1060 RearDiffOilTeWarn_B_Rq "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1060 RearDiffOil_Te_Actl "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1057 FohEng_D_Rq "Signal not transmitted on vehicles that do not have the fuel operated heater feature. Signal not transmitted on HEV programs";
-CM_ SG_ 1057 EngIdlShutDown_D_Stat "Signal not transmitted on diesel variants.";
-CM_ SG_ 1057 FUEL_ALCOHOL_PERCNT "signal not transmitted on diesel and HEV variants.";
-CM_ SG_ 1057 TrnTotTq_Rt_Est "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 1057 TrnTotLss_Tq_Est "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 1057 VehVLimStat_D_Actl "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 1057 VehVLimActv_B_Actl "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 562 GearNtrl_No_Cs "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 562 GearNtrl_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 516 EngAoutNActl_D_QF "Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 516 EngAout3_N_Actl "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 516 ApedPos_Pc_ActlArb "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 516 ApedPosPcActl_No_Cnt "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 516 ApedPosPcActl_No_Cs "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 514 VehVTrlrAid_B_Avail "Signal not transmitted on HEV variants.";
-CM_ SG_ 514 GearRvrse_D_Actl "Do not implement GearRvrse_D_Actl  until eTracker 8804151 is approved, 11/24/09";
-CM_ SG_ 512 PrplWhlTotTqRq_No_Cs "Signal not transmitted on gas & Diesel variants.";
-CM_ SG_ 512 PrplWhlTotTqRq_No_Cnt "Signal not transmitted on gas & Diesel variants.";
-CM_ SG_ 512 PtDrvMde_D_Stat "Signal not transmitted on Gas & HEV variants.";
-CM_ SG_ 380 EngExhBrkOnLamp_B_Rq "Signal not transmitted on Gas variants";
-CM_ SG_ 380 EngExhBrkAutoLamp_B_Rq "Signal not transmitted on Gas variants";
-CM_ SG_ 380 EngAout_N_MxAllw "Signal not transmitted on Gas variants";
-CM_ SG_ 380 EngExhBrkMde_D_Actl "Signal not transmitted on Gas variants";
-CM_ SG_ 377 HvacAirFullOut_B_Rq "Signal not transmitted on diesel variant";
-CM_ SG_ 377 FuelFlw_Vl_Dsply "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 FuelFillInlet_B_Dsply "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 OdoCount "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 EngOilLife_Pc_Actl "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 FuelFilterLamp_B_Dsply "Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 377 AirCondRec_B_Rq "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 AirCondClutch_B_Stats "Signal not transmitted on diesel variants.";
-CM_ SG_ 376 GasPrtc_D_RqDsply "Signal not transmitted on HEV & Diesel variants.";
-CM_ SG_ 376 EngAout_Aa_Actl "Signal not transmitted on HEV variants.";
-CM_ SG_ 376 AslIconDsply_D_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 376 AslChime_B_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 376 HvacHtrCore2_Te_Actl "Signal not transmitted on Gas & Diesel variants";
-CM_ SG_ 376 EcssLamp_D_RqDsply "Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 376 AirAmb_Te_Actl "Signal not transmitted on Gas variants";
-CM_ SG_ 359 PrplWhlRgenMn_Tq_Actl "Signal not transmitted on Gas & Diesel variants";
-CM_ SG_ 359 ElPw_D_StatStrtStop "Signal not transmitted on HEV variants.";
-CM_ SG_ 359 TrnAin_Tq_Actl "Signal not transmitted on HEV variances.";
-CM_ SG_ 359 PlgActvArb_B_Actl "Only supported on PHEV programs.  PlgActvArb_B_Actl HPCM will Tx on Powersplit PHEVs,  On MHT PHEVs the PCM_HEV will Tx and HPCM will Rx.";
-CM_ SG_ 359 TrnAinTq_D_Qf "Signal not transmitted on HEV variances.";
-CM_ SG_ 358 StopStrtStdby_D_Indic "Signal not transmitted on HEV variants.";
-CM_ SG_ 358 StopStrtIODTxt_D_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 358 StopStrtDrvMde_D_Indic "Signal not transmitted on HEV variants.";
-CM_ SG_ 358 StopStrtMsgTxt_D_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 358 HiElPwInhbt_B_Stat "Signal not transmitted on HEV programs";
-CM_ SG_ 358 AutoStopPtDelta_I_Est "Signal not transmitted on HEV variants. ";
-CM_ SG_ 357 BpedDrvAppl_D_Actl "CCMGenSigTimeoutTime=1000";
-CM_ SG_ 357 CcStat_D_Actl "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 357 EngAout_N_MnAllw "Signal not transmitted on Gas & Diesel variants.";
-CM_ SG_ 357 AccStopMde_D_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 342 EngOvrhtMitgActv_D_Ind "Signal not transmitted on diesel.";
-CM_ SG_ 342 EngGoutLss_Tq_Est "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 342 EngOil_Te_Actl "Signal not transmitted on Gas & HEV variants. ";
-CM_ SG_ 954 GenericSwtch2_No_Actl "U625 Police Wig Wag feature";
-CM_ SG_ 935 SodRight_D_Stat "IPCGenSigTimeoutTime=1600";
-CM_ SG_ 935 Side_Detect_R_Illum "DDMGenSigTimeoutTime=2000";
-CM_ SG_ 935 SodSnsRight_D_Stat "IPCGenSigTimeoutTime=1600";
-CM_ SG_ 935 SodAlrtRight_D_Stat "DDMGenSigTimeoutTime=2000";
-CM_ SG_ 1112 BattTracClntPmp_D_Stat "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
-CM_ SG_ 1050 Outside_Air_Temp_Stat "Filtered value, i.e. same as disply for customer";
-CM_ SG_ 1009 CenterStackRing_D_Actl "The Center Stack sends the CPLR a signal to turn On or Off the light Ring, This is a customer selectable preference switch";
-CM_ SG_ 1009 APIM_NumberofTracks_St "Object NumberofTracks";
-CM_ SG_ 1009 APIM_ActiveTrackNum_St "Object.ActiveTrackNum";
-CM_ SG_ 360 GsmSrvcRqd_B_Rq "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 360 TrnGearPwmFalt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 360 GearButtnStuck_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGsmNtmState_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 DrQltyDrv_D_StatGsm "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnBtsiOvrrd_B_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnValidGearRq_D_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearRqCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_U_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlR2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlR1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlR0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlP2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlP1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlP0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlN2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlN1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlN0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlM2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlM1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlM0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlD2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlD1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlD0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGear_No_Cs "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGear_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGear_D_RqDrv "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 BrkSwtchPos_B_ActlGsm "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 138 SteWhlRelCalib_An_Sns "Signal is not transmitted on vehicles where PSCM is transmitting the message that contains this signal. Signal data set to 0x0 for ABS only vehicle option content";
-CM_ SG_ 1093 StopLamp_B_RqTrlrBrk "Signal not transmitted on all variants.";
-CM_ SG_ 792 ElTrip_L_Dsply "Key cycle trip distance driven with the engine off (Trip EV Miles)";
-CM_ SG_ 792 ElLongTerm_L_Dsply "Long term distance distance driven with the engine off since the last long term reset (Long Term EV Miles).";
-CM_ SG_ 765 Mc_VehTimeFrmtUsrSel_St "Object.BodyInterface.Settings.VehicleTimeFormatUserSelection";
-CM_ SG_ 765 Mc_VehUntTrpCoUsrSel_St "Object.VehicleSettings.Disp_Miles_Kilometers.Rq";
-CM_ SG_ 765 Mc_VehUnitTempUsrSel_St "Object.VehicleSettings.Disp_Temperature.Rq";
-CM_ SG_ 765 Mc_VehLangUsrSel_St "Object.BodyInterface.Settings.VehicleLanguageUserSelection Object Vehicle Settings.Disp_LangSel";
-CM_ SG_ 934 Side_Detect_L_Illum "DDMGenSigTimeoutTime=2000";
-CM_ SG_ 934 SodLeft_D_Stat "IPCGenSigTimeoutTime=1600";
-CM_ SG_ 934 SodSnsLeft_D_Stat "IPCGenSigTimeoutTime=1600";
-CM_ SG_ 934 SodAlrtLeft_D_Stat "DDMGenSigTimeoutTime=2000";
-CM_ SG_ 1072 MetricActv_B_Actl "0 =Inactive(English), 1=Active(Metric)";
-CM_ SG_ 145 VehYaw_W_Actl "CCMGenSigTimeoutTime=1000";
-CM_ SG_ 931 CrnkInhbt_No_Cs "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 931 CrnkInhbt_No_Cnt "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 947 Dimming_Lvl "Refer to Vehicle Interior Illum Dimming Ctrl Sys Eng Spec, Table 2";
-CM_ SG_ 947 PrkBrkActv_B_Actl "Signal not transmitted on vehicles with electric park brake. ";
-CM_ SG_ 394 HaDsply_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 394 HaDsply_No_Cnt "Signal not transmitted on gas variants.";
-CM_ SG_ 391 CmbbBrkDecel_A_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 391 CmbbBrkPrchg_D_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 391 CmbbBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 391 CmbbBaSens_D_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccBrkTot_A_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccBrkPrkEl_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccPrpl_A_Rq "PCMGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccBrkPrchg_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccStopStat_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 942 PrkAidRdiusRight_L_Dsply "MSGDCR 679, set all signals to OnChange";
-CM_ SG_ 942 PrkAidRdiusLeft_L_Dsply "MSGDCR 679, set all signals to OnChange";
-CM_ SG_ 942 PrkAidDrvDir_D_Stat "MSGDCR 679, set all signals to OnChange";
-
 BA_DEF_ BO_  "OvtpPushApplication" ENUM  "FALSE","TRUE";
 BA_DEF_ BU_  "OvtpOperationMode" ENUM  "SERVER","CLIENT";
 BA_DEF_ BU_  "OvtpEcuAddress" INT 0 1022;
@@ -12693,3 +12440,255 @@ VAL_ 922 DcacRdy_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "Faulted" 4 "ProtectionTem
 VAL_ 922 DcacPlugPrsnt_B_Stat 1 "Yes" 0 "No";
 VAL_ 922 DcacClntFlw_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off";
 VAL_ 922 CoolFanDcac_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off";
+
+CM_ "New CAN FD network";
+CM_ BU_ CMR_DSMC "Driver Status Monitor Camera";
+CM_ BU_ IPMA_ADAS "Assist Driving Alert System";
+CM_ BU_ PSCM "Passenger Front Climate Control Seat Module";
+CM_ BU_ ABS_ESC "Anti-lock Brake / Traction Control Module";
+CM_ BU_ TCCM "Transfer Case Control Module, 4x4 Control Module";
+CM_ BU_ TCM_DSL "Transmission Control Module";
+CM_ BU_ PCM "Powertrain Control Module";
+CM_ BU_ ECM_Diesel "Diesel";
+CM_ BU_ GWM "Gateway Module CGEA1.3(Star Architecture)";
+CM_ BU_ TSTR "Diagnostic Tester";
+
+CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt "Signal not transmitted on gas variants.";
+CM_ SG_ 1150 LocationServices_1 "Tx by HS3 APIM";
+CM_ SG_ 542 LocationServices_3 "Tx by HS3 APIM";
+CM_ SG_ 810 NtfyDrvTrgtDist_L_Rq "Object.SetTripRangeAlert_Rq This signal is meant to provide the customer settings for the target distance remote notification";
+CM_ SG_ 810 NtfyDrvSocLvl1_Pc_Rq "Object.SetCustomerLevelAlert_Rq This signal is meant to provide the customer settings for the SOC remote notification.";
+CM_ SG_ 810 PtRmtRprt_D_Stat "Object.RemoteDataReport_St";
+CM_ SG_ 550 PtWakeupActv1_B_Rq "ECG Application signal";
+CM_ SG_ 982 LatCtlPath_No_Cnt "Signal not transmitted on gas variants.";
+CM_ SG_ 982 LatCtlPath_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 1104 DrvEngageLevel_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 1104 DrvEngageLevel_No_Cnt "Signal not transmitted on gas variants.";
+CM_ SG_ 1085 ULoRgenTestMde_B_Stat "Signal not transmitted on HEV variants.";
+CM_ SG_ 1085 PwSrcULoComm_B_Falt "Signal not transmitted on HEV variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMReserved4 "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMReserved3 "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMReserved2 "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMReserved1 "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMNodeId "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMControl "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1088 HvacPrecondMode2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature.";
+CM_ SG_ 1088 HvacPrecondBlwr2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature.";
+CM_ SG_ 786 ChrgStat_D_Dsply "Signal not transmitted by PCM_HEV";
+CM_ SG_ 66 immoControlData_T2 "Not transmitted on all vehicle variants";
+CM_ SG_ 66 immoControlCmd_T2 "Not transmitted on all vehicle variants";
+CM_ SG_ 549 BeltminderAudioMute "Object.MyKey.BeltMinderAudioMute.St";
+CM_ SG_ 549 Power_Up_Chime_Modules "Object.AlertMethod.IPC _Infotainment";
+CM_ SG_ 549 Chime_Source "Object.AlertMethod.IPC_infotainment";
+CM_ SG_ 611 AwdStat_D_RqDsply "Signal not transmitted on programs that do not have AWD.";
+CM_ SG_ 611 AwdSrvcRqd_B_Rq "Signal not transmitted on programs that do not have AWD.";
+CM_ SG_ 611 AwdLck_Tq_Rq "Signal not transmitted on programs that do not have AWD.";
+CM_ SG_ 130 VehVTrlrAid_B_Rq "VR session start- req. limit blower speed no more than X volts.  CC restriction on time msg. will be honored.Double Event msg1st event to request limit, 2nd event to release limit, No msg. CC Grammar v7.xls";
+CM_ SG_ 130 SteMdule_U_Meas "DCR 1745  to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)";
+CM_ SG_ 130 SteMdule_I_Est "DCR 1745  to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)";
+CM_ SG_ 126 StePinRelInit_An_Sns "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
+CM_ SG_ 126 StePinAn_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 1200 BrkTot_Tq_RqDrv "DCR 1836 to update Tx from GWM to EP100ms rejected due MPS6 TCM requires BrkTot_Tq_RqDrv at 20ms (bshu1).";
+CM_ SG_ 1046 TCMode "Signal data set to 0x0 for ABS only vehicle option content";
+CM_ SG_ 1046 DrvAntiLckLamp_D_Rq "update value table v8.34, not align w/GSDB, need etracker.  ABS & IPC implemented as updated.";
+CM_ SG_ 1046 BpedMove_D_Actl "CCMGenSigTimeoutTime=1000";
+CM_ SG_ 1044 StePinOffst_An_Est "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
+CM_ SG_ 1044 StePinOffst_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 534 BrkObdData_No_Actl "Signal not transmitted on gas, diesel and HEV.  Only supported on PHEV.";
+CM_ SG_ 534 BrkObdIndex_No_Actl "Signal not transmitted on gas, diesel and HEV.  Only supported on PHEV.";
+CM_ SG_ 534 WhlRotatRr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
+CM_ SG_ 534 WhlRotatRl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
+CM_ SG_ 534 WhlRotatFr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
+CM_ SG_ 534 WhlRotatFl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
+CM_ SG_ 531 VehLongOvrGnd_A_Est "CCMGenSigTimeoutTime=1000";
+CM_ SG_ 1034 VehicleGGCCData "RCMGenSigTimeout=6000";
+CM_ SG_ 1090 Mtr2State_D_ActlMntr "Signal Not transmitted on PCM_HEV variant";
+CM_ SG_ 1090 Inv1Ain_I_ActlMntr "Signal Not transmitted on PCM_HEV variant";
+CM_ SG_ 1090 VehElRnge_L_Dsply "Signal Not transmitted on HPCM variant";
+CM_ SG_ 374 TrnRng_D_Rq "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 TrnPrkSys_D_Actl "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearLvr_D_ActlDrv "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearPos_No_Cs "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearPos_D_Trg "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearPos_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearPos_D_Actl "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 603 WhlDirAvgDrv_D_Actl "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
+CM_ SG_ 603 PrplTqMnRgen_B_Actl "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
+CM_ SG_ 603 BattTracCnnct_D_Rq "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
+CM_ SG_ 872 HybMdeStat_D_Dsply "Signal not transmitted by HPCM";
+CM_ SG_ 560 SelDrvMdeSwtch_D_Stat3 "ECM_HEV,  PCM & PCM_HEV do not support or Transmit signal.";
+CM_ SG_ 560 TrnSrvcRqd_B_Rq "Signal not transmitted on Diesel & HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
+CM_ SG_ 560 TrnShifActv_B_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
+CM_ SG_ 560 GboxOil_Te_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
+CM_ SG_ 369 SeatWorkSrfc_B_Falt "Signal Not transmitted by TCM_DSL";
+CM_ SG_ 369 TrnIpcDsplyRng2_D_Actl "Signal not transmitted on HEV variants.";
+CM_ SG_ 369 TrnIpcDsplyRng_D_Stat "Signal not transmitted on HEV variants.";
+CM_ SG_ 92 TrnLvrV_D_Rq "Signal not transmitted on vehicles with PCM_HEV";
+CM_ SG_ 92 TrnSbwSysHlth_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearNtmAllow_B_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnDtpCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearCmd_No_Cs "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnValidGear_D_Cnfm "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnNtrlTowCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearCmd_Pc_ActlPt "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGear_D_RqPt "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnCmdState_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnCmdCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 PrkBrkActv_D_RqTrnGear "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearMsgTxt_D_Rq "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearCmd_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 1087 BattRgenLoChrg_D_RqEng "Signal not transmitted on diesel variant";
+CM_ SG_ 1087 BattRgenLoDChrg_D_RqEng "Signal not transmitted on diesel variant";
+CM_ SG_ 1087 FapLcInhbt_B_Rq "Signal not transmitted on diesel variant";
+CM_ SG_ 1100 EngExhMdeQuiet_D2_Stat "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1100 HvacCmprLim_D_Stat "Signal not transmitted on Diesel variants";
+CM_ SG_ 1100 WakeAlarm1_T_Rq "Signal not transmitted on Gas variants";
+CM_ SG_ 1100 WakeAlarm1_B_Typ "Signal not transmitted on Gas variants";
+CM_ SG_ 1100 Veh_V_DsplyTrailCtlSet "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1100 TrailCtlPt_B_Falt "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1100 AutoTowAllw_D_StatMnu "Signal not transmitted on Gas & Diesel variants";
+CM_ SG_ 1100 AutoTowActv_B_Stat "Signal not transmitted on Gas & Diesel variants";
+CM_ SG_ 1086 EngMnfld_P_Actl "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1086 ElLoadCtl_D_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 1071 CluPdl_PcRate_Actl "Signal not transmitted on HEV and Gas variants.";
+CM_ SG_ 1071 CluPdlPosPcMeas_D_Qf "Signal not transmitted on HEV and Gas variants.";
+CM_ SG_ 1071 CluPdlPos_Pc_Meas "Signal not transmitted on HEV and Gas variants.";
+CM_ SG_ 1071 EngAoutIdl_N_Ntrl "Signal not transmitted on HEV variants and diesel.";
+CM_ SG_ 1069 SlMde_D_Stat "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 1069 SlMde_D_RqDsply "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 1069 IsaOffst_D_Stat "Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 1069 ObdWarmUp_B_Complt "Signal not transmitted on diesel variants.";
+CM_ SG_ 1069 EngMsgTxt_D_Rq "Signal not transmitted on diesel variants.";
+CM_ SG_ 1069 EngClnt_Te_ActlDiag "Signal not transmitted on gas variants.";
+CM_ SG_ 1069 EngLoad_Pc_CalcDiag "Signal not transmitted on gas variants.";
+CM_ SG_ 1069 ApedPos_Pc_ActlDiag "Signal not transmitted on gas variants.";
+CM_ SG_ 1060 RearDiffOilTeWarn_B_Rq "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1060 RearDiffOil_Te_Actl "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1057 FohEng_D_Rq "Signal not transmitted on vehicles that do not have the fuel operated heater feature. Signal not transmitted on HEV programs";
+CM_ SG_ 1057 EngIdlShutDown_D_Stat "Signal not transmitted on diesel variants.";
+CM_ SG_ 1057 FUEL_ALCOHOL_PERCNT "signal not transmitted on diesel and HEV variants.";
+CM_ SG_ 1057 TrnTotTq_Rt_Est "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 1057 TrnTotLss_Tq_Est "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 1057 VehVLimStat_D_Actl "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 1057 VehVLimActv_B_Actl "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 562 GearNtrl_No_Cs "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 562 GearNtrl_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 516 EngAoutNActl_D_QF "Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 516 EngAout3_N_Actl "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 516 ApedPos_Pc_ActlArb "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 516 ApedPosPcActl_No_Cnt "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 516 ApedPosPcActl_No_Cs "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 514 VehVTrlrAid_B_Avail "Signal not transmitted on HEV variants.";
+CM_ SG_ 514 GearRvrse_D_Actl "Do not implement GearRvrse_D_Actl  until eTracker 8804151 is approved, 11/24/09";
+CM_ SG_ 512 PrplWhlTotTqRq_No_Cs "Signal not transmitted on gas & Diesel variants.";
+CM_ SG_ 512 PrplWhlTotTqRq_No_Cnt "Signal not transmitted on gas & Diesel variants.";
+CM_ SG_ 512 PtDrvMde_D_Stat "Signal not transmitted on Gas & HEV variants.";
+CM_ SG_ 380 EngExhBrkOnLamp_B_Rq "Signal not transmitted on Gas variants";
+CM_ SG_ 380 EngExhBrkAutoLamp_B_Rq "Signal not transmitted on Gas variants";
+CM_ SG_ 380 EngAout_N_MxAllw "Signal not transmitted on Gas variants";
+CM_ SG_ 380 EngExhBrkMde_D_Actl "Signal not transmitted on Gas variants";
+CM_ SG_ 377 HvacAirFullOut_B_Rq "Signal not transmitted on diesel variant";
+CM_ SG_ 377 FuelFlw_Vl_Dsply "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 FuelFillInlet_B_Dsply "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 OdoCount "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 EngOilLife_Pc_Actl "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 FuelFilterLamp_B_Dsply "Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 377 AirCondRec_B_Rq "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 AirCondClutch_B_Stats "Signal not transmitted on diesel variants.";
+CM_ SG_ 376 GasPrtc_D_RqDsply "Signal not transmitted on HEV & Diesel variants.";
+CM_ SG_ 376 EngAout_Aa_Actl "Signal not transmitted on HEV variants.";
+CM_ SG_ 376 AslIconDsply_D_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 376 AslChime_B_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 376 HvacHtrCore2_Te_Actl "Signal not transmitted on Gas & Diesel variants";
+CM_ SG_ 376 EcssLamp_D_RqDsply "Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 376 AirAmb_Te_Actl "Signal not transmitted on Gas variants";
+CM_ SG_ 359 PrplWhlRgenMn_Tq_Actl "Signal not transmitted on Gas & Diesel variants";
+CM_ SG_ 359 ElPw_D_StatStrtStop "Signal not transmitted on HEV variants.";
+CM_ SG_ 359 TrnAin_Tq_Actl "Signal not transmitted on HEV variances.";
+CM_ SG_ 359 PlgActvArb_B_Actl "Only supported on PHEV programs.  PlgActvArb_B_Actl HPCM will Tx on Powersplit PHEVs,  On MHT PHEVs the PCM_HEV will Tx and HPCM will Rx.";
+CM_ SG_ 359 TrnAinTq_D_Qf "Signal not transmitted on HEV variances.";
+CM_ SG_ 358 StopStrtStdby_D_Indic "Signal not transmitted on HEV variants.";
+CM_ SG_ 358 StopStrtIODTxt_D_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 358 StopStrtDrvMde_D_Indic "Signal not transmitted on HEV variants.";
+CM_ SG_ 358 StopStrtMsgTxt_D_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 358 HiElPwInhbt_B_Stat "Signal not transmitted on HEV programs";
+CM_ SG_ 358 AutoStopPtDelta_I_Est "Signal not transmitted on HEV variants. ";
+CM_ SG_ 357 BpedDrvAppl_D_Actl "CCMGenSigTimeoutTime=1000";
+CM_ SG_ 357 CcStat_D_Actl "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 357 EngAout_N_MnAllw "Signal not transmitted on Gas & Diesel variants.";
+CM_ SG_ 357 AccStopMde_D_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 342 EngOvrhtMitgActv_D_Ind "Signal not transmitted on diesel.";
+CM_ SG_ 342 EngGoutLss_Tq_Est "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 342 EngOil_Te_Actl "Signal not transmitted on Gas & HEV variants. ";
+CM_ SG_ 954 GenericSwtch2_No_Actl "U625 Police Wig Wag feature";
+CM_ SG_ 935 SodRight_D_Stat "IPCGenSigTimeoutTime=1600";
+CM_ SG_ 935 Side_Detect_R_Illum "DDMGenSigTimeoutTime=2000";
+CM_ SG_ 935 SodSnsRight_D_Stat "IPCGenSigTimeoutTime=1600";
+CM_ SG_ 935 SodAlrtRight_D_Stat "DDMGenSigTimeoutTime=2000";
+CM_ SG_ 1112 BattTracClntPmp_D_Stat "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
+CM_ SG_ 1050 Outside_Air_Temp_Stat "Filtered value, i.e. same as disply for customer";
+CM_ SG_ 1009 CenterStackRing_D_Actl "The Center Stack sends the CPLR a signal to turn On or Off the light Ring, This is a customer selectable preference switch";
+CM_ SG_ 1009 APIM_NumberofTracks_St "Object NumberofTracks";
+CM_ SG_ 1009 APIM_ActiveTrackNum_St "Object.ActiveTrackNum";
+CM_ SG_ 360 GsmSrvcRqd_B_Rq "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 360 TrnGearPwmFalt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 360 GearButtnStuck_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGsmNtmState_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 DrQltyDrv_D_StatGsm "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnBtsiOvrrd_B_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnValidGearRq_D_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearRqCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_U_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlR2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlR1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlR0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlP2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlP1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlP0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlN2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlN1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlN0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlM2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlM1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlM0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlD2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlD1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlD0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGear_No_Cs "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGear_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGear_D_RqDrv "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 BrkSwtchPos_B_ActlGsm "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 138 SteWhlRelCalib_An_Sns "Signal is not transmitted on vehicles where PSCM is transmitting the message that contains this signal. Signal data set to 0x0 for ABS only vehicle option content";
+CM_ SG_ 1093 StopLamp_B_RqTrlrBrk "Signal not transmitted on all variants.";
+CM_ SG_ 792 ElTrip_L_Dsply "Key cycle trip distance driven with the engine off (Trip EV Miles)";
+CM_ SG_ 792 ElLongTerm_L_Dsply "Long term distance distance driven with the engine off since the last long term reset (Long Term EV Miles).";
+CM_ SG_ 765 Mc_VehTimeFrmtUsrSel_St "Object.BodyInterface.Settings.VehicleTimeFormatUserSelection";
+CM_ SG_ 765 Mc_VehUntTrpCoUsrSel_St "Object.VehicleSettings.Disp_Miles_Kilometers.Rq";
+CM_ SG_ 765 Mc_VehUnitTempUsrSel_St "Object.VehicleSettings.Disp_Temperature.Rq";
+CM_ SG_ 765 Mc_VehLangUsrSel_St "Object.BodyInterface.Settings.VehicleLanguageUserSelection Object Vehicle Settings.Disp_LangSel";
+CM_ SG_ 934 Side_Detect_L_Illum "DDMGenSigTimeoutTime=2000";
+CM_ SG_ 934 SodLeft_D_Stat "IPCGenSigTimeoutTime=1600";
+CM_ SG_ 934 SodSnsLeft_D_Stat "IPCGenSigTimeoutTime=1600";
+CM_ SG_ 934 SodAlrtLeft_D_Stat "DDMGenSigTimeoutTime=2000";
+CM_ SG_ 1072 MetricActv_B_Actl "0 =Inactive(English), 1=Active(Metric)";
+CM_ SG_ 145 VehYaw_W_Actl "CCMGenSigTimeoutTime=1000";
+CM_ SG_ 931 CrnkInhbt_No_Cs "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 931 CrnkInhbt_No_Cnt "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 947 Dimming_Lvl "Refer to Vehicle Interior Illum Dimming Ctrl Sys Eng Spec, Table 2";
+CM_ SG_ 947 PrkBrkActv_B_Actl "Signal not transmitted on vehicles with electric park brake. ";
+CM_ SG_ 394 HaDsply_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 394 HaDsply_No_Cnt "Signal not transmitted on gas variants.";
+CM_ SG_ 391 CmbbBrkDecel_A_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 391 CmbbBrkPrchg_D_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 391 CmbbBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 391 CmbbBaSens_D_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccBrkTot_A_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccBrkPrkEl_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccPrpl_A_Rq "PCMGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccBrkPrchg_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccStopStat_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 942 PrkAidRdiusRight_L_Dsply "MSGDCR 679, set all signals to OnChange";
+CM_ SG_ 942 PrkAidRdiusLeft_L_Dsply "MSGDCR 679, set all signals to OnChange";
+CM_ SG_ 942 PrkAidDrvDir_D_Stat "MSGDCR 679, set all signals to OnChange";
@@ -1 +1 @@
-_*generated.dbc
+_stellantis_common_ram.dbc
@@ -5,17 +5,6 @@ BO_ 258 STEERING: 8 XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

-BO_ 264 ECM_1: 8 XXX
- SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
- SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 280 ECM_TRQ: 8 XXX
- SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
- SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
-
 BO_ 284 ESP_8: 8 XXX
 SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
@@ -36,11 +25,6 @@ BO_ 344 ESP_6: 8 XXX
 SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
 SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX

-BO_ 368 Transmission_Status: 8 XXX
- SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 464 ORC_1: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX

@@ -48,17 +32,10 @@ BO_ 500 DAS_3: 8 XXX
 SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
 SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] ""  XXX
- SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
 SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
- SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
- SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
 SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
- SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
- SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
+ SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -123,11 +100,7 @@ BO_ 820 BCM_1: 8 XXX
 SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX

-VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
-
 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
-CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
-CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
 CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
 CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
 CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
@@ -1,50 +1,42 @@
 #!/usr/bin/env python3
 import os
+from pathlib import Path

-chrysler_to_ram = {
-  "_stellantis_common_ram_dt_generated.dbc": {
-    258: 35,
-    264: 37,
-    280: 181,
-    284: 121,
-    320: 131,
-    344: 139,
-    368: 147,
-    464: 464,
-    500: 153,
-    501: 232,
-    544: 49,
-    571: 177,
-    559: 157,
-    678: 250,
-    720: 720,
-    792: 792,
-    820: 657,
-  },
-  "_stellantis_common_ram_hd_generated.dbc": {
-    571: 570,
-    678: 629,
-  },
+CHRYSLER_TO_RAM_ADDR = {
+  258: 35,
+  284: 121,
+  320: 131,
+  344: 139,
+  464: 464,
+  500: 153,
+  501: 232,
+  544: 49,
+  571: 177,
+  559: 157,
+  678: 250,
+  720: 720,
+  792: 792,
+  820: 657,
 }

 if __name__ == "__main__":
  src = '_stellantis_common.dbc'
+  out = Path(__file__).stem + '.dbc'
  chrysler_path = os.path.dirname(os.path.realpath(__file__))

-  for out, addr_lookup in chrysler_to_ram.items():
-    with open(os.path.join(chrysler_path, src)) as in_f, open(os.path.join(chrysler_path, out), 'w') as out_f:
-      out_f.write(f'CM_ "Generated from {src}"\n\n')
+  with open(os.path.join(chrysler_path, src)) as in_f, open(os.path.join(chrysler_path, out), 'w') as out_f:
+    out_f.write(f'CM_ "Generated from {src}"\n\n')

-      wrote_addrs = set()
-      for line in in_f.readlines():
-        if line.startswith(('BO_', 'VAL_')):
-          sl = line.split(' ')
-          addr = int(sl[1])
-          wrote_addrs.add(addr)
+    wrote_addrs = set()
+    for line in in_f.readlines():
+      if line.startswith('BO_'):
+        sl = line.split(' ')
+        addr = int(sl[1])
+        wrote_addrs.add(addr)

-          sl[1] = str(addr_lookup.get(addr, addr))
-          line = ' '.join(sl)
-        out_f.write(line)
+        sl[1] = str(CHRYSLER_TO_RAM_ADDR.get(addr, addr))
+        line = ' '.join(sl)
+      out_f.write(line)

-      missing_addrs = set(addr_lookup.keys()) - wrote_addrs
-      assert len(missing_addrs) == 0, f"Missing addrs from {src}: {missing_addrs}"
+    missing_addrs = set(CHRYSLER_TO_RAM_ADDR.keys()) - wrote_addrs
+    assert len(missing_addrs) == 0, f"Missing addrs from {src}: {missing_addrs}"
@@ -17,6 +17,11 @@ BO_ 736 TRIP: 8 XXX
 SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
 SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX

+BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 658 LKAS_COMMAND: 6 XXX
 SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
@@ -1,4 +1,10 @@
-CM_ "IMPORT _stellantis_common_ram_dt_generated.dbc";
+CM_ "IMPORT _stellantis_common_ram.dbc";
+
+BO_ 37 PCM_1: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|1] "" XXX
+ SG_ ENGINE_TRQ_REQ : 23|12@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 53 PCM_2: 8 XXX
 SG_ ENG_TORQUE_REQ : 3|12@0+ (1,0) [0|7] "" XXX
@@ -21,6 +27,11 @@ BO_ 137 ESP_4: 8 XXX
 SG_ Yaw_Rate : 7|16@0+ (0.01,-327.68) [-327.68|327.66] "deg/s" XXX
 SG_ Acceleration : 32|8@1+ (0.08,-10.24) [-10.24|10.08] "m/s2" XXX

+BO_ 147 Transmission_Status: 8 XXX
+ SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 164 EPS_3: 8 XXX
 SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX
@@ -51,3 +62,4 @@ CM_ SG_ 250 Auto_High_Beam "1 = HIGH BEAMS OK 0 = HIGH BEAMS OFF ";
 CM_ SG_ 250 LKAS_LANE_LINES "9 = LEFT CAUTION, 11 = VERY LEFT CAUTION 10 = RIGHT CAUTION, 14 = VERY RIGHT, 4 = NO LINES DETECTED, 3 = LINES DETECTED, SYSTEM ACTIVE";
 CM_ SG_ 464 Driver_Seatbelt_Status "1 unbuckled 0 buckled";
 CM_ SG_ 792 High_Beam_Lever_Status "1 is high beam, 0 reg";
+VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
@@ -1,17 +0,0 @@
-CM_ "IMPORT _stellantis_common_ram_hd_generated.dbc";
-
-BO_ 545 EPS_3: 8 XXX
- SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX
- SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 630 LKAS_COMMAND: 8 XXX
- SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX
- SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX
- SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
@@ -71,9 +71,8 @@ BO_ 201 ECMEngineStatus: 8 K20_ECM
 SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
 SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO
 SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
- SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
 SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
- SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO

 BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
 SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
@@ -84,7 +83,6 @@ BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
 SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX

 BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
- SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX
 SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] ""  NEO

 BO_ 298 BCMDoorBeltStatus: 8 K9_BCM
@@ -124,8 +122,6 @@ BO_ 388 PSCMStatus: 8 K43_PSCM
 SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
 SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
 SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
- SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX
- SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX

 BO_ 417 AcceleratorPedal: 7 XXX
 SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
@@ -140,11 +136,8 @@ BO_ 452 AcceleratorPedal2: 8 XXX
 BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
 SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
- SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
 SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
- SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
- SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO

 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
 SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
@@ -168,9 +161,6 @@ BO_ 501 ECMPRDNL2: 8 K20_ECM
 SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
 SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO

-BO_ 532 BRAKE_RELATED: 6 XXX
- SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX
-
 BO_ 560 EPBStatus: 8 EPB
 SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO

@@ -191,9 +181,6 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM

 BO_ 717 ASCM_2CD: 5 K124_ASCM

-BO_ 761 BRAKE_RELATED_2: 7 XXX
- SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX
-
 BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
 SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
 SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
@@ -202,47 +189,36 @@ BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM

 BO_ 800 AEBCmd: 6 K124_ASCM
 SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
- SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
- SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
- SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
- SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
+ SG_ Checksum : 27|20@0+ (1,0) [0|2047] "" NEO
+ SG_ BrakeCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
+ SG_ BrakingForce : 2|7@0+ (1,0) [0|7] "" NEO

 BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
 SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond"  NEO
 SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO

-BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
+BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
 SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO

 BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
 SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ MovingForward : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingBackward : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingForward2 : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ MovingBackward2 : 36|1@0+ (1,0) [0|1] "" XXX

 BO_ 869 ASCM_365: 4 K124_ASCM

 BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
- SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX
 SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h"  NEO
+ SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h"  NEO
 SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
 SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
 SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX

-BO_ 977 ECMCruiseControl: 8 K20_ECM
- SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
- SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
-
 BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
 SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
- SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO

 BO_ 1033 ASCMKeepAlive: 7 NEO
 SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO
@@ -282,16 +258,11 @@ CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
 CM_ BU_ NEO "Comma NEO";
 CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
-CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
 CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
 CM_ SG_ 352 Ignition "Non-zero when ignition is on";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
-CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
 CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
 CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
-CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
-CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
-CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
 BA_DEF_  "UseGMParameterIDs" INT 0 0;
 BA_DEF_  "ProtocolType" STRING ;
 BA_DEF_  "BusType" STRING ;
@@ -309,7 +280,6 @@ VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
-VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
 VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
@@ -22,7 +22,6 @@ BO_ 432 STANDSTILL: 7 VSA
 BO_ 456 ACC_CONTROL: 8 XXX
 SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
 SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX
@@ -70,8 +69,9 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

-CM_ BO_ 456 "not sure which bit enables cruise";
-CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
+CM_ BO 456 "not sure which bit enables cruise";
+CM_ SG_ 456 ACCEL_COMMAND "seems to be m/s^2? need to verify";
+CM_ SG_ 456 BOH "could be cruise standstill?";

 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
@@ -1,2 +0,0 @@
-hyundai_kia_mando_front_radar.dbc
-hyundai_kia_mando_corner_radar.dbc
@@ -1,170 +0,0 @@
-#!/usr/bin/env python3
-from collections import namedtuple
-import os
-
-if __name__ == "__main__":
-  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
-  hyundai_path = os.path.dirname(os.path.realpath(__file__))
-  with open(os.path.join(hyundai_path, dbc_name), "w") as f:
-    f.write("""
-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
-""")
-
-    for a in [0x100, 0x200]:
-      f.write(f"""
-BO_ {a} RADAR_POINTS_METADATA_0x{a:x}: 64 RADAR
- SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
- SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
- SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
- SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
- SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
- SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
- SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
- SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
- SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
- SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
- SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
- SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
- SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
- SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
- SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
- SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
- SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
- SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
- SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
- SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
- SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
- SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
- SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
- SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
- SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
- SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
- SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
- SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
- SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
- SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
- SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
- SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
- SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
- SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
- SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
-""")
-
-    # radar points are sent at 20 Hz in groups of 1 to 13 messages
-    # each message has 5 radar points for a total of 65 points max
-    # each radar point is 101 bits so the alignment is not consistent
-    RadarPointSignal = namedtuple("RadarPointSignal", ["name", "start", "length", "scale", "offset"])
-    radar_point_signals = (
-      RadarPointSignal("DISTANCE", 7, 14, 1/64, 0),
-      RadarPointSignal("", 21, 2, 1, 0),
-      RadarPointSignal("", 23, 8, 1/512, -127/512),
-      RadarPointSignal("REL_VELOCITY", 31, 13, 1/32, -66),
-      RadarPointSignal("", 44, 2, 1, 0),
-      RadarPointSignal("", 46, 2, 1, 0),
-      RadarPointSignal("AZIMUTH", 48, 12, 1/512, -2047/512),
-      RadarPointSignal("", 60, 2, 1, 0),
-      RadarPointSignal("", 62, 1, 1, 0),
-      RadarPointSignal("", 63, 7, 1, 0),
-      RadarPointSignal("", 70, 1, 1, 0),
-      RadarPointSignal("", 71, 6, 1, 0),
-      RadarPointSignal("", 77, 2, 1, 0),
-      RadarPointSignal("", 79, 8, 1/512, -127/512),
-      RadarPointSignal("", 87, 1, 1, 0),
-      RadarPointSignal("", 88, 2, 1, 0),
-      RadarPointSignal("", 90, 3, 1, 0),
-      # last 15 bits are controlled by LAYOUT_ID (seems to always zero, so below is layout 0)
-      RadarPointSignal("", 93, 6, 1, 0),
-      RadarPointSignal("", 99, 8, 1, 0),
-      RadarPointSignal("", 107, 1, 1, 0),
-    )
-    radar_point_bit_count = sum([s.length for s in radar_point_signals])
-
-    for a in [0x101, 0x201]:
-      f.write(f"""
-BO_ {a} RADAR_POINTS_0x{a:x}: 64 RADAR
- SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
- SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
-""")
-      bit_idx = radar_point_signals[0].start
-      for i in range(5):
-        signal_idx = 1
-        for sig in radar_point_signals:
-          if sig.name:
-            sig_name = f"POINT_{i+1}_{sig.name}"
-          else:
-            sig_name = f"POINT_{i+1}_SIGNAL_{signal_idx}"
-          signal_idx += 1
-
-          sig_start_idx = i * radar_point_bit_count + sig.start
-          assert bit_idx == sig_start_idx, f"signal overlap or gap!!! {bit_idx} != {sig_start_idx}"
-          min_val = round(sig.offset, 10)
-          max_val = round((2**sig.length - 1) * sig.scale + sig.offset, 10)
-
-          f.write(f" SG_ {sig_name} : {sig_start_idx}|{sig.length}@1+ ({sig.scale},{sig.offset}) [{min_val}|{max_val}] \"\" XXX\n")
-          bit_idx += sig.length
-
-    # checksum is across a group of 0x100/200 and 0x101/201 messages (no checksums inside the other messages)
-    # ccitt_crc16 = mkCrcFun(0x11021, initCrc=0xffff, xorOut=0x0000, rev=False)
-    for a in [0x104, 0x204]:
-      f.write(f"""
-BO_ {a} RADAR_POINTS_CHECKSUM_0x{a:x}: 3 RADAR
- SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX
-""")
@@ -1,61 +0,0 @@
-#!/usr/bin/env python3
-import os
-
-if __name__ == "__main__":
-  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
-  hyundai_path = os.path.dirname(os.path.realpath(__file__))
-  with open(os.path.join(hyundai_path, dbc_name), "w") as f:
-    f.write("""
-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
-    """)
-
-    # note: 0x501/0x502 seem to be special in 0x5XX range
-    for a in range(0x500, 0x500 + 32):
-        f.write(f"""
-BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
- SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
- SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
- SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
- SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
- SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
- SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
- SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
- SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    """)
@@ -96,7 +96,7 @@ BO_ 281 Steering_Torque: 8 XXX
 SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
 SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
- SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
+ SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX

 BO_ 312 Brake_Pressure_L_R: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -116,9 +116,9 @@ BO_ 313 Brake_Pedal: 8 XXX
 SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX

 BO_ 372 Engine_Stop_Start: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
+  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+  SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX

 BO_ 290 ES_LKAS: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -205,7 +205,7 @@ BO_ 801 ES_DashStatus: 8 XXX
 SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
 SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
- SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX

 BO_ 802 ES_LKAS_State: 8 XXX
@@ -139,7 +139,7 @@ BO_ 353 ES_Distance: 8 XXX
 SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX
+ SG_ Close_Distance : 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|1] "" XXX
 SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
@@ -8,7 +8,7 @@ BO_ 355 ES_DashStatus: 8 XXX
 SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX
 SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Car_Follow : 54|1@1+ (1,0) [0|1] "" XXX
- SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|1] "" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
@@ -19,14 +19,12 @@ BO_ 545 ES_Distance: 8 XXX
 SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
 SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
 SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal7 : 35|1@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|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+ (0.019607,0) [0|5] "m" XXX
+ SG_ Close_Distance : 40|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
@@ -56,7 +54,6 @@ BO_ 576 CruiseControl: 8 XXX
 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_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0";
 CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
 CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
 VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
@@ -16,7 +16,7 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
 SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
@@ -16,7 +16,7 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
 SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
@@ -11,11 +11,7 @@ def test_generator():

    ignore = [f for f in os.listdir(opendbc_root) if not f.endswith('_generated.dbc')]
    comp = filecmp.dircmp(opendbc_root, d, ignore=ignore)
-
-    err = "Generated DBC mismatch\n\n"
-    err += f"Different files: {comp.diff_files}\n\n"
-    err += "Run opendbc/generator/generator.py to regenerate DBC files."
-    assert len(comp.diff_files) == 0, err
+    assert len(comp.diff_files) == 0, f"Different files: {comp.diff_files}"


 if __name__ == "__main__":
@@ -83,10 +83,9 @@ BO_ 466 PCM_CRUISE: 8 XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
 SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 552 ACCELEROMETER: 8 XXX
@@ -118,7 +117,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ 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
@@ -164,11 +163,6 @@ BO_ 835 ACC_CONTROL: 8 DSU
 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX

-BO_ 865 CLUTCH: 8 XXX
- SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
- SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" 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
@@ -182,7 +176,6 @@ 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_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -207,7 +200,7 @@ BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM
 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_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX

 BO_ 1020 SOLAR_SENSOR: 8 XXX
 SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@@ -331,7 +324,6 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
 SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX
 SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX
 SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX

 BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -374,7 +366,6 @@ CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; n
 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_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
-CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't 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?";
@@ -394,14 +385,9 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
 CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
 CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
-CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
-CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
-CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
-CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 956 GEAR "on 6MT, only R shows.";
-CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
 CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
 CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
@@ -434,7 +420,7 @@ 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";
-CM_ SG_ 1552 UI_SPEED "Does not appear to match dash";
+CM_ SG_ 1552 UI_SPEED "Vehicle's speedometer's display speed after Toyota's offset was applied, uses vehicle's unit";
 CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state";
 CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting";
 CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state";
@@ -454,7 +440,6 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
 VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
 VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
-VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
@@ -486,7 +471,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on";
 VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed";
-VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)";
 VAL_ 1553 UNITS 1 "km" 2 "miles";
 VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked";
@@ -8,11 +8,10 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
 SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
- SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" 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 : 0|1@0+ (1,0) [0|1] "" 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
@@ -39,10 +38,9 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri
 CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
 CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
 CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
-CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
 CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
+CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
 CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
-CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
 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";
@@ -54,5 +52,5 @@ CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along
 CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";

 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
-VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -91,9 +91,8 @@ BO_ 201 ECMEngineStatus: 8 K20_ECM
 SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
 SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO
 SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
- SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
 SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
- SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO

 BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
 SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
@@ -104,7 +103,6 @@ BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
 SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX

 BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
- SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX
 SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] ""  NEO

 BO_ 298 BCMDoorBeltStatus: 8 K9_BCM
@@ -144,8 +142,6 @@ BO_ 388 PSCMStatus: 8 K43_PSCM
 SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
 SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
 SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
- SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX
- SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX

 BO_ 417 AcceleratorPedal: 7 XXX
 SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
@@ -160,11 +156,8 @@ BO_ 452 AcceleratorPedal2: 8 XXX
 BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
 SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
- SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
 SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
- SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
- SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO

 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
 SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg"  NEO
@@ -188,9 +181,6 @@ BO_ 501 ECMPRDNL2: 8 K20_ECM
 SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
 SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO

-BO_ 532 BRAKE_RELATED: 6 XXX
- SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX
-
 BO_ 560 EPBStatus: 8 EPB
 SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO

@@ -211,9 +201,6 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM

 BO_ 717 ASCM_2CD: 5 K124_ASCM

-BO_ 761 BRAKE_RELATED_2: 7 XXX
- SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX
-
 BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
 SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
 SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
@@ -222,47 +209,36 @@ BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM

 BO_ 800 AEBCmd: 6 K124_ASCM
 SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
- SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
- SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
- SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
- SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
+ SG_ Checksum : 27|20@0+ (1,0) [0|2047] "" NEO
+ SG_ BrakeCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
+ SG_ BrakingForce : 2|7@0+ (1,0) [0|7] "" NEO

 BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
 SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond"  NEO
 SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO

-BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
+BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
 SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO

 BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
 SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
- SG_ MovingForward : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingBackward : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ MovingForward2 : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ MovingBackward2 : 36|1@0+ (1,0) [0|1] "" XXX

 BO_ 869 ASCM_365: 4 K124_ASCM

 BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
- SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX
 SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h"  NEO
+ SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h"  NEO
 SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
 SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
 SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX

-BO_ 977 ECMCruiseControl: 8 K20_ECM
- SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
- SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
-
 BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
 SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
- SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO

 BO_ 1033 ASCMKeepAlive: 7 NEO
 SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO
@@ -302,16 +278,11 @@ CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
 CM_ BU_ NEO "Comma NEO";
 CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
-CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
 CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
 CM_ SG_ 352 Ignition "Non-zero when ignition is on";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
-CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
 CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
 CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
-CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
-CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
-CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
 BA_DEF_  "UseGMParameterIDs" INT 0 0;
 BA_DEF_  "ProtocolType" STRING ;
 BA_DEF_  "BusType" STRING ;
@@ -329,7 +300,6 @@ VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
-VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
 VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
@@ -448,7 +448,6 @@ BO_ 432 STANDSTILL: 7 VSA
 BO_ 456 ACC_CONTROL: 8 XXX
 SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
 SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX
- SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX
@@ -496,8 +495,9 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

-CM_ BO_ 456 "not sure which bit enables cruise";
-CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
+CM_ BO 456 "not sure which bit enables cruise";
+CM_ SG_ 456 ACCEL_COMMAND "seems to be m/s^2? need to verify";
+CM_ SG_ 456 BOH "could be cruise standstill?";

 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
@@ -1,577 +0,0 @@
-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 CAMERA FRONT_RADAR ADRV APRK
-
-
-BO_ 53 ACCELERATOR: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 192|3@1+ (1,0) [0|7] "" XXX
- SG_ ACCELERATOR_PEDAL : 40|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 64 GEAR_ALT: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 32|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 69 GEAR: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ GEAR : 44|3@1+ (1,0) [0|7] "" XXX
-
-BO_ 80 LKAS: 16 XXX
- SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
- SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
- SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX
- SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX
- SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
- SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
- SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 81 ADRV_0x51: 32 ADRV
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
-
-BO_ 96 ESP_STATUS: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ ESP_DISABLED : 42|3@1+ (1,0) [0|63] "" XXX
- SG_ BRAKE_PRESSURE : 128|10@1+ (1,0) [0|65535] "" XXX
- SG_ BRAKE_PRESSED : 148|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 101 BRAKE: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ BRAKE_POSITION : 40|16@1- (1,0) [0|65535] "" XXX
- SG_ BRAKE_PRESSED : 57|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 160 WHEEL_SPEEDS: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "m/s" XXX
- SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "m/s" XXX
- SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "m/s" XXX
- SG_ WHEEL_SPEED_4 : 112|16@1+ (0.03125,0) [0|65535] "m/s" XXX
-
-BO_ 234 MDPS: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ LKA_ACTIVE : 48|1@0+ (1,0) [0|16777215] "" XXX
- SG_ LKA_FAULT : 54|1@0+ (1,0) [0|1] "" XXX
- SG_ STEERING_OUT_TORQUE : 64|12@1+ (0.1,-204.8) [0|65535] "" XXX
- SG_ STEERING_COL_TORQUE : 80|13@1+ (1,-4095) [0|4095] "" XXX
- SG_ STEERING_ANGLE : 96|16@1- (-0.1,0) [0|255] "deg" XXX
- SG_ STEERING_ANGLE_2 : 128|16@1- (-0.1,0) [0|65535] "deg" XXX
-
-BO_ 256 ACCELERATOR_BRAKE_ALT: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PRESSED : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ ACCELERATOR_PEDAL_PRESSED : 176|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 261 ACCELERATOR_ALT: 32 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ ACCELERATOR_PEDAL : 103|10@1+ (0.25,0) [0|1022] "" XXX
-
-BO_ 293 STEERING_SENSORS: 16 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ STEERING_RATE : 40|8@1+ (4,0) [0|1016] "deg/s" XXX
- SG_ STEERING_ANGLE : 24|16@1- (-0.1,0) [0|255] "deg" XXX
-
-BO_ 298 LFA: 16 ADRV
- SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
- SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
- SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX
- SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX
- SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
- SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 304 GEAR_SHIFTER: 16 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX
- SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
- SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
-
-BO_ 357 SPAS1: 24 APRK
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ NEW_SIGNAL_1 : 96|16@1- (0.1,0) [0|0] "" XXX
- SG_ NEW_SIGNAL_2 : 90|3@1+ (1,0) [0|0] "" XXX
-
-BO_ 362 SPAS2: 32 APRK
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ BLINKER_CONTROL : 133|3@1+ (1,0) [0|0] "" XXX
-
-BO_ 373 TCS: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 80|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 74|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 76|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 24|7@1+ (1,0) [0|127] "" XXX
- SG_ aBasis : 32|11@1+ (0.01,-10.23) [0|7] "m/s^2" XXX
- SG_ NEW_SIGNAL_5 : 72|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_6 : 128|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_7 : 135|2@0+ (1,0) [0|3] "" XXX
- SG_ PROBABLY_EQUIP : 136|2@1+ (1,0) [0|3] "" XXX
- SG_ AEB_EQUIP_MAYBE : 96|1@0+ (1,0) [0|1] "" XXX
- SG_ EQUIP_MAYBE : 64|1@0+ (1,0) [0|1] "" XXX
- SG_ DriverBraking : 81|1@0+ (1,0) [0|1] "" XXX
- SG_ DriverBrakingLowSens : 84|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_REQ : 68|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCEL_REF_ACC : 48|11@1- (1,0) [0|1023] "" XXX
- SG_ ACCEnable : 67|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 352 ADRV_0x160: 16 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_FF : 64|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_FC : 72|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_2 : 56|8@1+ (1,0) [0|1] "" XXX
- SG_ AEB_SETTING : 24|2@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_9 : 80|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 384 CAM_0x180: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 385 CAM_0x181: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 386 CAM_0x182: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 387 CAM_0x183: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 388 CAM_0x184: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 389 CAM_0x185: 8 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 416 SCC_CONTROL: 32 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 64|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_8 : 170|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_10 : 156|5@0+ (1,0) [0|3] "" XXX
- SG_ ZEROS : 215|48@0+ (1,0) [0|281474976710655] "" XXX
- SG_ ZEROS_3 : 191|7@0+ (1,0) [0|127] "" XXX
- SG_ ZEROS_4 : 183|4@0+ (1,0) [0|63] "" XXX
- SG_ ZEROS_6 : 119|16@0+ (1,0) [0|65535] "" XXX
- SG_ ZEROS_8 : 95|5@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_3 : 109|2@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_TMP_64 : 55|8@0+ (1,0) [0|63] "" XXX
- SG_ SET_ME_2 : 105|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_6 : 104|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ ZEROS_9 : 71|5@1+ (1,0) [0|15] "" XXX
- SG_ ZEROS_10 : 111|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_3 : 45|2@0+ (1,0) [0|3] "" XXX
- SG_ ObjValid : 46|1@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 168|2@1+ (1,0) [0|3] "" XXX
- SG_ OBJ_STATUS : 176|3@1+ (1,0) [0|7] "" XXX
- SG_ ACC_ObjDist : 24|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ ZEROS_5 : 77|11@1+ (1,0) [0|2047] "" XXX
- SG_ DISTANCE_SETTING : 88|3@1+ (1,0) [0|3] "" XXX
- SG_ ZEROS_2 : 207|5@0+ (1,0) [0|63] "" XXX
- SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX
- SG_ aReqRaw : 140|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
- SG_ aReqValue : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
- SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 158|2@0+ (1,0) [0|3] "" XXX
- SG_ ACCMode : 68|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_12 : 35|9@1+ (0.1,0) [0|255] "" XXX
- SG_ JerkLowerLimit : 166|7@0+ (0.1,0) [0|12.7] "m/s^3" XXX
- SG_ StopReq : 184|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX
- SG_ VSetDis : 103|8@0+ (1,0) [0|255] "km/h or mph" XXX
- SG_ MainMode_ACC : 66|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
- SG_ SET_ME_1 : 28|2@1+ (1,0) [0|3] "" XXX
- SG_ DISTANCE_UNIT : 30|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX
- SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX
- SG_ LFA_BTN : 39|1@1+ (1,0) [0|1] "" XXX
- SG_ CRUISE_BUTTONS : 36|3@1+ (1,0) [0|4] "" XXX
- SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|1] "" XXX
- SG_ NORMAL_CRUISE_MAIN_BTN : 41|1@1+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 42|2@1+ (1,0) [0|3] "" XXX
- SG_ SET_ME_2 : 44|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_6 : 47|1@1+ (1,0) [0|1] "" XXX
- SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 438 CAM_0x1b6: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 439 CAM_0x1b7: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 440 CAM_0x1b8: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 441 CAM_0x1b9: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 463 CRUISE_BUTTONS: 8 XXX
- SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
- SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX
- SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX
- SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
- SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
-
-BO_ 474 ADRV_0x1da: 32 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_22 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_ME_41 : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 480 LFAHDA_CLUSTER: 16 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ HDA_ICON : 31|1@1+ (1,0) [0|1] "" XXX
- SG_ LFA_ICON : 47|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_1 : 32|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 49|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 490 ADRV_0x1ea: 32 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_1C : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 32|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 47|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 64|6@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_5 : 72|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_6 : 75|5@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_7 : 80|5@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_8 : 88|7@1+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_9 : 96|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_10 : 143|5@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_11 : 144|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_12 : 152|6@1+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_13 : 160|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_14 : 163|5@1+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_15 : 175|4@0+ (1,0) [0|63] "" XXX
- SG_ NEW_SIGNAL_16 : 168|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_17 : 176|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_18 : 184|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_19 : 208|3@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_20 : 212|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_ME_FF : 120|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_TMP_F : 232|5@1+ (1,0) [0|31] "" XXX
- SG_ SET_ME_TMP_F_2 : 240|5@1+ (1,0) [0|31] "" XXX
-
-BO_ 507 CAM_0x1fb: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 512 ADRV_0x200: 8 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_E1 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_3A : 32|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 513 RADAR_0x201: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 528 RADAR_0x210: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 529 RADAR_0x211: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 530 RADAR_0x212: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 531 RADAR_0x213: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 532 RADAR_0x214: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 533 RADAR_0x215: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 534 RADAR_0x216: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 535 RADAR_0x217: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 536 RADAR_0x218: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 537 RADAR_0x219: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 538 RADAR_0x21a: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 539 RADAR_0x21b: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 540 RADAR_0x21c: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 541 RADAR_0x21d: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 542 RADAR_0x21e: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 543 RADAR_0x21f: 32 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 576 RADAR_0x240: 16 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 593 RADAR_0x251: 16 FRONT_RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 674 CAM_0x2a2: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 675 CAM_0x2a3: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 676 CAM_0x2a4: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
- SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 699 CAM_0x2bb: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 700 CAM_0x2bc: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 701 CAM_0x2bd: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 702 CAM_0x2be: 32 CAMERA
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 837 ADRV_0x345: 8 ADRV
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ SET_ME_15 : 24|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 961 BLINKER_STALKS: 8 XXX
- SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ HIGHBEAM_FORWARD : 18|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAM_BACKWARD : 26|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_BLINKER : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ LIGHT_KNOB_POSITION : 21|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 1041 DOORS_SEATBELTS: 8 XXX
- SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|65535] "" XXX
- SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ DRIVER_SEATBELT_LATCHED : 42|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVER_DOOR_OPEN : 24|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 1043 BLINKERS: 8 XXX
- SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ LEFT_LAMP : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ RIGHT_LAMP : 22|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 1240 CLUSTER_INFO: 8 XXX
- SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
- SG_ COLLISION_AVOIDANCE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_MB : 30|1@0+ (1,0) [0|3] "" XXX
- SG_ LEFT_BLOCKED : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ MORE_LEFT_PROB : 32|1@1+ (1,0) [0|3] "" XXX
- SG_ FL_INDICATOR : 46|6@0+ (1,0) [0|1] "" XXX
- SG_ FR_INDICATOR : 54|6@0+ (1,0) [0|63] "" XXX
- SG_ RIGHT_BLOCKED : 64|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 874 BLINDSPOTS_FRONT_CORNER_2: 16 XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
-
-BO_ 485 BLINDSPOTS_FRONT_CORNER_1: 16 XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_1 : 108|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_3 : 88|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 80|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_5 : 31|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_6 : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_7 : 32|2@1+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_8 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_9 : 55|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 506 CLUSTER_SPEED_LIMIT: 32 XXX
- SG_ SPEED_LIMIT_3 : 119|8@0+ (1,0) [0|255] "" XXX
- SG_ SPEED_LIMIT_2 : 47|7@0+ (1,0) [0|255] "" XXX
- SG_ SPEED_LIMIT_1 : 39|7@0+ (1,0) [0|255] "" XXX
- SG_ SPEED_CHANGE_BLINKING : 129|1@1+ (1,0) [0|3] "" XXX
- SG_ CHIME_2 : 122|2@1+ (1,0) [0|7] "" XXX
- SG_ CHIME_1 : 133|1@0+ (1,0) [0|1] "" XXX
- SG_ ARROW_DOWN : 120|1@0+ (1,0) [0|1] "" XXX
- SG_ ARROW_UP : 121|1@0+ (1,0) [0|1] "" XXX
- SG_ SECONDARY_LIMIT_1 : 79|8@0+ (1,0) [0|127] "" XXX
- SG_ SECONDARY_LIMIT_2 : 103|8@0+ (1,0) [0|127] "" XXX
- SG_ SCHOOL_ZONE : 155|1@0+ (1,0) [0|1] "" XXX
-
-
-
-CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
-CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
-CM_ SG_ 373 PROBABLY_EQUIP "aeb equip?";
-CM_ SG_ 373 ACCEnable "Likely a copy of CAN's TCS13->ACCEnable";
-CM_ SG_ 373 DriverBraking "Likely derived from BRAKE->BRAKE_POSITION";
-CM_ SG_ 373 DriverBrakingLowSens "Higher threshold version of DriverBraking";
-CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings";
-CM_ SG_ 416 VSetDis "set speed in display units";
-CM_ SG_ 961 COUNTER_ALT "only increments on change";
-CM_ SG_ 1041 COUNTER_ALT "only increments on change";
-CM_ SG_ 1043 COUNTER_ALT "only increments on change";
-VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
-VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
-VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
-VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
-VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
-VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ;
-VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
-VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
-VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
-VAL_ 352 AEB_SETTING 1 "off" 2 "warning only" 3 "active assist" ;
-VAL_ 362 BLINKER_CONTROL 1 "hazards" 2 "hazards button backlight" 3 "left blinkers" 4 "right blinkers";
-VAL_ 373 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
-VAL_ 416 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled" ;
-VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
-VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
@@ -1440,10 +1440,11 @@ BO_ 909 FCA11: 8 FCA
 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 : 35|4@1+ (1,0) [0|15] "" 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_ChkSum : 56|8@1+ (1,0) [0|255] "" 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_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX
 SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX

 BO_ 1156 HDA11_MFC: 8 XXX
@@ -1644,11 +1645,10 @@ CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Po
 CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";

 VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
-VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
+VAL_ 871 CF_Lvr_Gear 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
 VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
 VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
 VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
-VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
 VAL_ 1057 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault";
 VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
 VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
@@ -1,374 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-
-CM_ "hyundai_kia_mando_corner_radar.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
-
-BO_ 256 RADAR_POINTS_METADATA_0x100: 64 RADAR
- SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
- SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
- SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
- SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
- SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
- SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
- SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
- SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
- SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
- SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
- SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
- SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
- SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
- SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
- SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
- SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
- SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
- SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
- SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
- SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
- SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
- SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
- SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
- SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
- SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
- SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
- SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
- SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
- SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
- SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
- SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
- SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
- SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
- SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
- SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 512 RADAR_POINTS_METADATA_0x200: 64 RADAR
- SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
- SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
- SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
- SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
- SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
- SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
- SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
- SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
- SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
- SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
- SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
- SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
- SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
- SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
- SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
- SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
- SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
- SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
- SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
- SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
- SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
- SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
- SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
- SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
- SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
- SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
- SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
- SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
- SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
- SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
- SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
- SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
- SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
- SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
- SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
- SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
- SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
- SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
-
-BO_ 257 RADAR_POINTS_0x101: 64 RADAR
- SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
- SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 513 RADAR_POINTS_0x201: 64 RADAR
- SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
- SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX
- SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
- SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
- SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX
- SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
- SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX
- SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX
- SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX
- SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX
- SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX
- SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX
-
-BO_ 260 RADAR_POINTS_CHECKSUM_0x104: 3 RADAR
- SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX
-
-BO_ 516 RADAR_POINTS_CHECKSUM_0x204: 3 RADAR
- SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -1,6 +1,3 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT";
-
-CM_ "hyundai_kia_mando_front_radar.dbc starts here";

 VERSION ""

@@ -38,7 +35,8 @@ NS_ :
 BS_:

 BU_: XXX
-    
+
+
 BO_ 1280 RADAR_TRACK_500: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -50,7 +48,8 @@ BO_ 1280 RADAR_TRACK_500: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1281 RADAR_TRACK_501: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -62,7 +61,8 @@ BO_ 1281 RADAR_TRACK_501: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1282 RADAR_TRACK_502: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -74,7 +74,8 @@ BO_ 1282 RADAR_TRACK_502: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1283 RADAR_TRACK_503: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -86,7 +87,8 @@ BO_ 1283 RADAR_TRACK_503: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1284 RADAR_TRACK_504: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -98,7 +100,8 @@ BO_ 1284 RADAR_TRACK_504: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1285 RADAR_TRACK_505: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -110,7 +113,8 @@ BO_ 1285 RADAR_TRACK_505: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1286 RADAR_TRACK_506: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -122,7 +126,8 @@ BO_ 1286 RADAR_TRACK_506: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1287 RADAR_TRACK_507: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -134,7 +139,8 @@ BO_ 1287 RADAR_TRACK_507: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1288 RADAR_TRACK_508: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -146,7 +152,8 @@ BO_ 1288 RADAR_TRACK_508: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1289 RADAR_TRACK_509: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -158,7 +165,8 @@ BO_ 1289 RADAR_TRACK_509: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1290 RADAR_TRACK_50a: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -170,7 +178,8 @@ BO_ 1290 RADAR_TRACK_50a: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1291 RADAR_TRACK_50b: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -182,7 +191,8 @@ BO_ 1291 RADAR_TRACK_50b: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1292 RADAR_TRACK_50c: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -194,7 +204,8 @@ BO_ 1292 RADAR_TRACK_50c: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1293 RADAR_TRACK_50d: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -206,7 +217,8 @@ BO_ 1293 RADAR_TRACK_50d: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1294 RADAR_TRACK_50e: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -218,7 +230,8 @@ BO_ 1294 RADAR_TRACK_50e: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1295 RADAR_TRACK_50f: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -230,7 +243,8 @@ BO_ 1295 RADAR_TRACK_50f: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1296 RADAR_TRACK_510: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -242,7 +256,8 @@ BO_ 1296 RADAR_TRACK_510: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1297 RADAR_TRACK_511: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -254,7 +269,8 @@ BO_ 1297 RADAR_TRACK_511: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1298 RADAR_TRACK_512: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -266,7 +282,8 @@ BO_ 1298 RADAR_TRACK_512: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1299 RADAR_TRACK_513: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -278,7 +295,8 @@ BO_ 1299 RADAR_TRACK_513: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1300 RADAR_TRACK_514: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -290,7 +308,8 @@ BO_ 1300 RADAR_TRACK_514: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1301 RADAR_TRACK_515: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -302,7 +321,8 @@ BO_ 1301 RADAR_TRACK_515: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1302 RADAR_TRACK_516: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -314,7 +334,8 @@ BO_ 1302 RADAR_TRACK_516: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1303 RADAR_TRACK_517: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -326,7 +347,8 @@ BO_ 1303 RADAR_TRACK_517: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1304 RADAR_TRACK_518: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -338,7 +360,8 @@ BO_ 1304 RADAR_TRACK_518: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1305 RADAR_TRACK_519: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -350,7 +373,8 @@ BO_ 1305 RADAR_TRACK_519: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1306 RADAR_TRACK_51a: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -362,7 +386,8 @@ BO_ 1306 RADAR_TRACK_51a: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1307 RADAR_TRACK_51b: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -374,7 +399,8 @@ BO_ 1307 RADAR_TRACK_51b: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1308 RADAR_TRACK_51c: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -386,7 +412,8 @@ BO_ 1308 RADAR_TRACK_51c: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1309 RADAR_TRACK_51d: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -398,7 +425,8 @@ BO_ 1309 RADAR_TRACK_51d: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1310 RADAR_TRACK_51e: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -410,7 +438,8 @@ BO_ 1310 RADAR_TRACK_51e: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
+
 BO_ 1311 RADAR_TRACK_51f: 8 RADAR
 SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
 SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
@@ -422,4 +451,4 @@ BO_ 1311 RADAR_TRACK_51f: 8 RADAR
 SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
 SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-    
+
@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+
+if __name__ == "__main__":
+  print("""
+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
+  """)
+
+  # note: 0x501/0x502 seem to be special in 0x5XX range
+  for a in range(0x500, 0x500 + 32):
+      print(f"""
+BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
+SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+  """)
@@ -0,0 +1,265 @@
+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 CAMERA
+
+
+BO_ 53 ACCELERATOR: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 192|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACCELERATOR_PEDAL : 40|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 80 LKAS: 16 XXX
+ SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
+ SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX
+ SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 96 ESP_STATUS: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ ESP_DISABLED : 42|3@1+ (1,0) [0|63] "" XXX
+
+BO_ 101 BRAKE: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED : 57|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 160 WHEEL_SPEEDS: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_SPEED_1 : 64|16@1+ (0.03125,0) [0|65535] "m/s" XXX
+ SG_ WHEEL_SPEED_2 : 80|16@1+ (0.03125,0) [0|65535] "m/s" XXX
+ SG_ WHEEL_SPEED_3 : 96|16@1+ (0.03125,0) [0|65535] "m/s" XXX
+ SG_ WHEEL_SPEED_4 : 112|16@1+ (0.03125,0) [0|65535] "m/s" XXX
+
+BO_ 234 MDPS: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 48|1@0+ (1,0) [0|16777215] "" XXX
+ SG_ STEERING_OUT_TORQUE : 64|12@1+ (0.1,-204.8) [0|65535] "" XXX
+ SG_ STEERING_COL_TORQUE : 80|13@1+ (1,-4095) [0|4095] "" XXX
+ SG_ STEERING_ANGLE : 96|16@1- (-0.1,0) [0|255] "deg" XXX
+ SG_ STEERING_ANGLE_2 : 128|16@1- (-0.1,0) [0|65535] "deg" XXX
+
+BO_ 293 STEERING_SENSORS: 16 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEERING_RATE : 40|8@1- (-0.1,0) [0|255] "deg/s" XXX
+ SG_ STEERING_ANGLE : 24|16@1- (-0.1,0) [0|255] "deg" XXX
+
+BO_ 298 LFA: 16 XXX
+ SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
+ SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|2@1+ (1,0) [0|255] "" XXX
+ SG_ LFA_BUTTON : 56|1@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ STEER_MODE : 65|3@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_WARNING : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 373 SCC1: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_REQ : 48|13@1- (1,0) [0|1023] "" XXX
+ SG_ CRUISE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 352 CAM_0x160: 16 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 384 CAM_0x180: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 385 CAM_0x181: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 386 CAM_0x182: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 387 CAM_0x183: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 388 CAM_0x184: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 389 CAM_0x185: 8 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 416 CRUISE_INFO: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 102|7@0+ (1,0) [0|127] "km/h or mph" XXX
+ SG_ CRUISE_ACTIVE : 184|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 438 CAM_0x1b6: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 439 CAM_0x1b7: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 440 CAM_0x1b8: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 441 CAM_0x1b9: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 463 CRUISE_BUTTONS: 8 XXX
+ SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
+ SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
+
+BO_ 480 NEW_MSG_1: 16 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ LFA_GREY : 47|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 507 CAM_0x1fb: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 674 CAM_0x2a2: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 675 CAM_0x2a3: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 676 CAM_0x2a4: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
+ SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 699 CAM_0x2bb: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 700 CAM_0x2bc: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 701 CAM_0x2bd: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 702 CAM_0x2be: 32 CAMERA
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 961 BLINKER_STALKS: 8 XXX
+ SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ HIGHBEAM_FORWARD : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAM_BACKWARD : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ LIGHT_KNOB_POSITION : 21|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1041 DOORS_SEATBELTS: 8 XXX
+ SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ DRIVER_SEATBELT_LATCHED : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_DOOR_OPEN : 24|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 1043 BLINKERS: 8 XXX
+ SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ LEFT_LAMP : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LAMP : 22|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1240 CLUSTER_INFO: 8 XXX
+ SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX
+
+
+
+CM_ SG_ 961 COUNTER_ALT "only increments on change";
+CM_ SG_ 1041 COUNTER_ALT "only increments on change";
+CM_ SG_ 1043 COUNTER_ALT "only increments on change";
+VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
+VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
+VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
+VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
@@ -47,12 +47,7 @@ BO_ 573 ENGINE_1: 8 XXX
 BO_ 640 SPEED: 8 XXX
 SG_ SPEED : 32|16@1+ (0.01,0) [0|45000] "" XXX

-BO_ 861 BCM: 8 XXX
-
 BO_ 1361 ENGINE_3: 8 XXX
 SG_ CLT : 0|8@1+ (1,-45) [-45|150] "" XXX

-BO_ 1408 ENGINE_4: 8 XXX
- SG_ OIL_TEMP : 32|8@1+ (1,-40) [-40|150] "" XXX
-
 BO_ 1477 MILEAGE: 8 XXX
@@ -5,4 +5,4 @@ numpy==1.21.0
 pycapnp==1.0.0
 pylint==2.4.3
 pyyaml==5.4
-scons
+scons==3.1.1
@@ -143,7 +143,7 @@ BO_ 353 ES_Distance: 8 XXX
 SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX
+ SG_ Close_Distance : 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|1] "" XXX
 SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
@@ -257,7 +257,7 @@ BO_ 355 ES_DashStatus: 8 XXX
 SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX
 SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX
 SG_ Car_Follow : 54|1@1+ (1,0) [0|1] "" XXX
- SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|1] "" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
@@ -100,7 +100,7 @@ BO_ 281 Steering_Torque: 8 XXX
 SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
 SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
- SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
+ SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX

 BO_ 312 Brake_Pressure_L_R: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -120,9 +120,9 @@ BO_ 313 Brake_Pedal: 8 XXX
 SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX

 BO_ 372 Engine_Stop_Start: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
+  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+  SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX

 BO_ 290 ES_LKAS: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -209,7 +209,7 @@ BO_ 801 ES_DashStatus: 8 XXX
 SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
 SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
- SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX

 BO_ 802 ES_LKAS_State: 8 XXX
@@ -282,14 +282,12 @@ BO_ 545 ES_Distance: 8 XXX
 SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
 SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
 SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 33|1@1+ (1,0) [0|1] "" XXX
- SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal7 : 35|1@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|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+ (0.019607,0) [0|5] "m" XXX
+ SG_ Close_Distance : 40|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
@@ -319,7 +317,6 @@ BO_ 576 CruiseControl: 8 XXX
 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_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0";
 CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
 CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
 VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
@@ -100,7 +100,7 @@ BO_ 281 Steering_Torque: 8 XXX
 SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
 SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
- SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
+ SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX

 BO_ 312 Brake_Pressure_L_R: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -120,9 +120,9 @@ BO_ 313 Brake_Pedal: 8 XXX
 SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX

 BO_ 372 Engine_Stop_Start: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
+  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+  SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX

 BO_ 290 ES_LKAS: 8 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -209,7 +209,7 @@ BO_ 801 ES_DashStatus: 8 XXX
 SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
 SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
- SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX

 BO_ 802 ES_LKAS_State: 8 XXX
@@ -143,7 +143,7 @@ BO_ 353 ES_Distance: 8 XXX
 SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX
+ SG_ Close_Distance : 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|1] "" XXX
 SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
@@ -265,7 +265,7 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
 SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
@@ -143,7 +143,7 @@ BO_ 353 ES_Distance: 8 XXX
 SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
 SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
- SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX
+ SG_ Close_Distance : 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|1] "" XXX
 SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
@@ -265,7 +265,7 @@ BO_ 358 ES_DashStatus: 8 XXX
 SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX
 SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
 SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
- SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX
+ SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX

 BO_ 881 Steering_Torque: 8 XXX
 SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
@@ -128,10 +128,9 @@ BO_ 466 PCM_CRUISE: 8 XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
 SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 552 ACCELEROMETER: 8 XXX
@@ -163,7 +162,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ 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
@@ -209,11 +208,6 @@ BO_ 835 ACC_CONTROL: 8 DSU
 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX

-BO_ 865 CLUTCH: 8 XXX
- SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
- SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" 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
@@ -227,7 +221,6 @@ 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_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -252,7 +245,7 @@ BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM
 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_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX

 BO_ 1020 SOLAR_SENSOR: 8 XXX
 SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@@ -376,7 +369,6 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
 SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX
 SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX
 SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX

 BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -419,7 +411,6 @@ CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; n
 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_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
-CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't 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?";
@@ -439,14 +430,9 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
 CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
 CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
-CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
-CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
-CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
-CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 956 GEAR "on 6MT, only R shows.";
-CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
 CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
 CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
@@ -479,7 +465,7 @@ 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";
-CM_ SG_ 1552 UI_SPEED "Does not appear to match dash";
+CM_ SG_ 1552 UI_SPEED "Vehicle's speedometer's display speed after Toyota's offset was applied, uses vehicle's unit";
 CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state";
 CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting";
 CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state";
@@ -499,7 +485,6 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
 VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
 VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
-VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
@@ -531,7 +516,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on";
 VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed";
-VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)";
 VAL_ 1553 UNITS 1 "km" 2 "miles";
 VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked";
@@ -128,10 +128,9 @@ BO_ 466 PCM_CRUISE: 8 XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
 SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 552 ACCELEROMETER: 8 XXX
@@ -163,7 +162,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ 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
@@ -209,11 +208,6 @@ BO_ 835 ACC_CONTROL: 8 DSU
 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX

-BO_ 865 CLUTCH: 8 XXX
- SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
- SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" 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
@@ -227,7 +221,6 @@ 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_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -253,7 +246,7 @@ BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM
 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_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX

 BO_ 1020 SOLAR_SENSOR: 8 XXX
 SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@@ -377,7 +370,6 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
 SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX
 SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX
 SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX

 BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -420,7 +412,6 @@ CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; n
 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_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
-CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't 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?";
@@ -440,14 +431,9 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
 CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
 CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
-CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
-CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
-CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
-CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 956 GEAR "on 6MT, only R shows.";
-CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
 CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
 CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
@@ -480,7 +466,7 @@ 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";
-CM_ SG_ 1552 UI_SPEED "Does not appear to match dash";
+CM_ SG_ 1552 UI_SPEED "Vehicle's speedometer's display speed after Toyota's offset was applied, uses vehicle's unit";
 CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state";
 CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting";
 CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state";
@@ -500,7 +486,6 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
 VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
 VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
-VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
@@ -533,7 +518,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on";
 VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed";
-VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)";
 VAL_ 1553 UNITS 1 "km" 2 "miles";
 VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked";
@@ -547,11 +531,10 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
 SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
- SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" 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 : 0|1@0+ (1,0) [0|1] "" 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
@@ -578,10 +561,9 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri
 CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
 CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
 CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
-CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
 CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
+CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
 CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
-CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
 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";
@@ -593,5 +575,5 @@ CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along
 CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";

 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
-VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -1,194 +0,0 @@
-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 RADAR
-
-BO_ 768 BUTTONS: 8 RADAR
- SG_ LKAS_PRESS : 2|1@0+ (1,0) [0|1] "" XXX
- SG_ DISTANCE_PRESS : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 769 OBJECT_0: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 771 OBJECT_1: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 773 OBJECT_2: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 775 OBJECT_3: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 777 OBJECT_4: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 779 OBJECT_5: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 781 OBJECT_6: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 783 OBJECT_7: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 785 OBJECT_8: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 787 OBJECT_9: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 789 OBJECT_10: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 791 OBJECT_11: 8 RADAR
- SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM_ "Front target"
-BO_ 1664 CLUSTER_F: 8 RADAR
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM_ "Front target ahead"
-BO_ 1665 CLUSTER_F_A: 8 RADAR
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM_ "Left target"
-BO_ 1666 CLUSTER_L: 8 RADAR
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM_ "Right target"
-BO_ 1667 CLUSTER_R: 8 RADAR
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM_ "Left target ahead"
-BO_ 1668 CLUSTER_L_A: 8 RADAR
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
-
-CM_ "Right target ahead"
-BO_ 1669 CLUSTER_R_A: 8 RADAR
- SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX
- SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX
- SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX
- SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX
- SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX
- SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX
@@ -128,10 +128,9 @@ BO_ 466 PCM_CRUISE: 8 XXX

 BO_ 467 PCM_CRUISE_2: 8 XXX
 SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
- SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 552 ACCELEROMETER: 8 XXX
@@ -163,7 +162,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
 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_ 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
@@ -209,11 +208,6 @@ BO_ 835 ACC_CONTROL: 8 DSU
 BO_ 836 PRE_COLLISION_2: 8 DSU
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX

-BO_ 865 CLUTCH: 8 XXX
- SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
- SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" 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
@@ -227,7 +221,6 @@ 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_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -252,7 +245,7 @@ BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM
 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_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX

 BO_ 1020 SOLAR_SENSOR: 8 XXX
 SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@@ -376,7 +369,6 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
 SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX
 SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX
 SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX

 BO_ 1553 UI_SETTING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -419,7 +411,6 @@ CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; n
 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_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
-CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't 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?";
@@ -439,14 +430,9 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
 CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
 CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
 CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
-CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
-CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
-CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
-CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
-CM_ SG_ 956 GEAR "on 6MT, only R shows.";
-CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
 CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
 CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
 CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
@@ -479,7 +465,7 @@ 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";
-CM_ SG_ 1552 UI_SPEED "Does not appear to match dash";
+CM_ SG_ 1552 UI_SPEED "Vehicle's speedometer's display speed after Toyota's offset was applied, uses vehicle's unit";
 CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state";
 CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting";
 CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state";
@@ -499,7 +485,6 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
 VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
 VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
-VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
@@ -531,7 +516,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
 VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on";
 VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed";
-VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)";
 VAL_ 1553 UNITS 1 "km" 2 "miles";
 VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
 VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked";
--- a/Show More
+++ b/Show More