openpilot v0.4.2 release

Merge opendbc subtree
Squashed 'opendbc/' changes from 3ca654f..81d9871
2026-06-12 06:54:12 +08:00 · 2018-02-06 12:43:45 -08:00 · 2018-02-06 12:39:39 -08:00 · 2018-02-06 12:39:39 -08:00 · 2018-02-06 12:39:38 -08:00 · 2018-02-06 12:39:38 -08:00
581 changed files with 125332 additions and 4366 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,18 +1,23 @@
 .DS_Store
 .tags
 .ipynb_checkpoints
+.idea
 model2.png

+*.DSYM
+*.d
 *.pyc
+*.pyo
 .*.swp
 .*.swo
 .*.un~
 *.o
-*.d
 *.so
 *.a
 *.clb
 *.class
+*.pyxbldc
+*.vcd
 config.json
 clcache

--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +0,0 @@
-[submodule "panda"]
-	path = panda
-	url = https://github.com/commaai/panda.git
--- a/.travis.yml
+++ b/.travis.yml
@@ -8,5 +8,5 @@ install:

 script:
  - docker run --rm
-      -v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out
-      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'
+      -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -1,19 +1,19 @@
-FROM ubuntu:14.04
+FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1

-RUN apt-get update && apt-get install -y build-essential screen wget bzip2 git libglib2.0-0
-
-RUN wget -nv -O /tmp/anaconda.sh https://repo.continuum.io/archive/Anaconda2-4.2.0-Linux-x86_64.sh && \
-  /bin/bash /tmp/anaconda.sh -b -p /opt/conda && \
-  rm /tmp/anaconda.sh
-
-ENV PATH /opt/conda/bin:$PATH
-
-RUN conda install numpy==1.11.2 && conda install scipy==0.18.1
+RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib

 COPY requirements_openpilot.txt /tmp/
 RUN pip install -r /tmp/requirements_openpilot.txt

 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH

-COPY . /tmp/openpilot
+COPY ./common /tmp/openpilot/common
+COPY ./cereal /tmp/openpilot/cereal
+COPY ./opendbc /tmp/openpilot/opendbc
+COPY ./selfdrive /tmp/openpilot/selfdrive
+COPY ./phonelibs /tmp/openpilot/phonelibs
+COPY ./pyextra /tmp/openpilot/pyextra
+
+RUN mkdir -p /tmp/openpilot/selfdrive/test/out
--- a/9
+++ b/9
@@ -1,6 +1,9 @@
+
+code_dir := $(shell pwd)
+
+# TODO: Add a global build system
+
 .PHONY: all
-
-# TODO: Add a global build system to openpilot
 all:
-	cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
+	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py

--- a/README.md
+++ b/README.md
@@ -3,14 +3,16 @@ Welcome to openpilot

 [openpilot](http://github.com/commaai/openpilot) is an open source driving agent.

-Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras and Toyotas. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

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

+Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
+
 Hardware
 ------

-Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
+Right now openpilot supports the [NEO research platform](http://github.com/commaai/neo) and the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.

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

@@ -18,17 +20,66 @@ Supported Cars
 ------

 - Acura ILX 2016 with AcuraWatch Plus
-  - Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph
+  - Due to use of the cruise control for gas, it can only be enabled above 25 mph

- Honda Civic 2016 with Honda Sensing
-  - Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph
+- Honda Civic 2016-2017 with Honda Sensing
+  - Due to limitations in steering firmware, steering is disabled below 12 mph
+  - Note that the hatchback model is not supported
+
+- Honda CR-V Touring 2015-2016
+  - Can only be enabled above 25 mph
+
+- Honda Odyssey 2018 with Honda Sensing (alpha!)
+  - Can only be enabled above 25 mph
+
+- Acura RDX 2018 with AcuraWatch Plus (alpha!)
+  - Can only be enabled above 25 mph
+
+- Toyota RAV-4 2016+ non-hybrid with TSS-P
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
+
+- Toyota Prius 2017 (alpha!)
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29)
+  - Lateral control needs improvements
+
+- Toyota RAV-4 2017 hybrid (alpha!)
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can do stop and go
+
+- Toyota Corolla 2017 (alpha!)
+  - By default it uses stock Toyota ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Corolla_.28for_openpilot.29) and can be enabled above 20 mph
+
+- Lexus RX 2017 hybrid (alpha!)
+  - By default it uses stock Lexus ACC for longitudinal control
+  - openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Lexus_RX_hybrid)
+
+In Progress Cars
+------
+- All TSS-P Toyota with Steering Assist.
+  - 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
+  - Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
+- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
+  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, GS, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
+  - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
+
+Community WIP Cars
+------
+
+- [Chevy Volt 2016-2018 Premier with Driver Confidence II](https://github.com/commaai/openpilot/pull/104)
+
+- [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
+
+- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)

 Directory structure
 ------

 - cereal        -- The messaging spec used for all logs on the phone
 - common        -- Library like functionality we've developed here
- dbcs          -- Files showing how to interpret data from cars
+- opendbc       -- Files showing how to interpret data from cars
 - panda         -- Code used to communicate on CAN and LIN
 - phonelibs     -- Libraries used on the phone
 - selfdrive     -- Code needed to drive the car
@@ -41,7 +92,6 @@ Directory structure
  - logcatd       -- Android logcat as a service
  - loggerd       -- Logger and uploader of car data
  - proclogd      -- Logs information from proc
-  - radar         -- Code that talks to the radar and implements RadarInterface
  - sensord       -- IMU / GPS interface code
  - test/plant    -- Car simulator running code through virtual maneuvers
  - ui            -- The UI
@@ -66,18 +116,16 @@ More extensive testing infrastructure and simulation environments are coming soo
 Adding Car Support
 ------

-It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
+comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.

-The Honda Accord uses different signaling for the steering and probably requires new hardware.
-
-Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
+CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.

 User Data / chffr Account / Crash Reporting
 ------

 By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.

-It's open source software, so you are free to disable it if you wish. 
+It's open source software, so you are free to disable it if you wish.

 It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 It does not log the user facing camera or the microphone.
@@ -91,13 +139,15 @@ We welcome both pull requests and issues on
 [github](http://github.com/commaai/openpilot). See the TODO file for a list of
 good places to start.

-Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/hiring.html)
+Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)

 Licensing
 ------

 openpilot is released under the MIT license.

+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,4 +1,107 @@
-Version 0.3.0  (2017-03-xx)
+Version 0.4.2 (2018-02-05)
+==========================
+ * Add alpha support for 2017 Lexus RX Hybrid
+ * Add alpha support for 2018 ACURA RDX
+ * Updated fingerprint to include Toyota Rav4 SE and Prius Prime
+ * Bugfixes for Acura ILX and Honda Odyssey
+
+Version 0.4.1 (2018-01-30)
+==========================
+ * Add alpha support for 2017 Toyota Corolla
+ * Add alpha support for 2018 Honda Odyssey with Honda Sensing
+ * Add alpha support for Grey Panda
+ * Refactored car abstraction layer to make car ports easier
+ * Increased steering torque limit on Honda CR-V by 30%
+
+Version 0.4.0.2 (2018-01-18)
+==========================
+ * Add focus adjustment slider
+ * Minor bugfixes
+
+Version 0.4.0.1 (2017-12-21)
+==========================
+ * New UI to match chffrplus
+ * Improved lateral control tuning to fix oscillations on Civic
+ * Add alpha support for 2017 Toyota Rav4 Hybrid
+ * Reduced CPU usage
+ * Removed unnecessary utilization of fan at max speed
+ * Minor bug fixes
+
+Version 0.3.9 (2017-11-21)
+==========================
+ * Add alpha support for 2017 Toyota Prius
+ * Improved longitudinal control using model predictive control
+ * Enable Forward Collision Warning
+ * Acura ILX now maintains openpilot engaged at standstill when brakes are applied
+
+Version 0.3.8.2 (2017-10-30)
+==========================
+ * Add alpha support for 2017 Toyota RAV4
+ * Smoother lateral control
+ * Stay silent if stock system is connected through giraffe
+ * Minor bug fixes
+
+Version 0.3.7 (2017-09-30)
+==========================
+ * Improved lateral control using model predictive control
+ * Improved lane centering
+ * Improved GPS
+ * Reduced tendency of path deviation near right side exits
+ * Enable engagement while the accelerator pedal is pressed
+ * Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
+ * Disable engagement when park brake or brake hold are active
+ * Fixed sporadic longitudinal pulsing in Civic
+ * Cleanups to vehicle interface
+
+Version 0.3.6.1 (2017-08-15)
+============================
+ * Mitigate low speed steering oscillations on some vehicles
+ * Include board steering check for CR-V
+
+Version 0.3.6 (2017-08-08)
+==========================
+ * Fix alpha CR-V support
+ * Improved GPS
+ * Fix display of target speed not always matching HUD
+ * Increased acceleration after stop
+ * Mitigated some vehicles driving too close to the right line
+
+Version 0.3.5 (2017-07-30)
+==========================
+ * Fix bug where new devices would not begin calibration
+ * Minor robustness improvements
+
+Version 0.3.4 (2017-07-28)
+==========================
+ * Improved model trained on more data
+ * Much improved controls tuning
+ * Performance improvements
+ * Bugfixes and improvements to calibration
+ * Driving log can play back video
+ * Acura only: system now stays engaged below 25mph as long as brakes are applied
+
+Version 0.3.3  (2017-06-28)
+===========================
+  * Improved model trained on more data
+  * Alpha CR-V support thanks to energee and johnnwvs!
+  * Using the opendbc project for DBC files
+  * Minor performance improvements
+  * UI update thanks to pjlao307
+  * Power off button
+  * 6% more torque on the Civic
+
+Version 0.3.2  (2017-05-22)
+===========================
+  * Minor stability bugfixes
+  * Added metrics and rear view mirror disable to settings
+  * Update model with more crowdsourced data
+
+Version 0.3.1  (2017-05-17)
+===========================
+  * visiond stability bugfix
+  * Add logging for angle and flashing
+
+Version 0.3.0  (2017-05-12)
 ===========================
  * Add CarParams struct to improve the abstraction layer
  * Refactor visiond IPC to support multiple clients
@@ -72,4 +175,3 @@ Version 0.1  (2016-11-29)
  * Lane keep assist is working
  * Support for Acura ILX 2016 with AcuraWatch Plus
  * Support for Honda Civic 2016 Touring Edition
-
--- a/SAFETY.md
+++ b/SAFETY.md
@@ -1,36 +1,73 @@
 openpilot Safety
 ======

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

 Even with an attentive driver, we must make further efforts for the system to be
 safe. We have designed openpilot with two other safety considerations.

-1. The vehicle must always be controllable by the driver.
+1. The driver must always be capable to immediately retake manual control of the vehicle, 
+   by stepping on either pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react.
+   react. This means that while the system is engaged, the actuators are constrained
+   to operate within reasonable limits.

-To address these, we came up with two safety principles.
+Following are details of the car specific safety implementations:

-1. Enforced disengagements. Step on either pedal or press the cancel button to
-   retake manual control of the car immediately.
-  - These are hard enforced by the board, and soft enforced by the software. The
-    green led on the board signifies if the board is allowing control messages.
-  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
-    replay of the same message.
+Honda/Acura
+------
+
+  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+    the stock system.
+
+  - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
+    The PCM limits acceleration to what is reasonable for a cruise control system.  With an
+    interceptor, the gas is clipped to 60%.

-2. Actuation limits. While the system is engaged, the actuators are constrained
-   to operate within reasonable limits; the same limits used by the stock system on
-   the Honda.
-  - Without an interceptor, the gas is controlled by the PCM. The PCM limits
-    acceleration to what is reasonable for a cruise control system.  With an
-    interceptor, the gas is clipped to 60% in longcontrol.py
  - The brake is controlled by the 0x1FA CAN message. This message allows full
    braking, although the board and the software clip it to 1/4th of the max.
    This is around .3g of braking.
-  - Steering is controlled by the 0xE4 CAN message. The EPS controller in the
-    car limits the torque to a very small amount, so regardless of the message,
-    the controller cannot jerk the wheel.
+
+  - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
+    controller in the car limits the torque to a very small amount, so regardless of the 
+    message, the controller cannot jerk the wheel.
+
+  - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
+    either signal triggers a disengagement, which is enforced by the board and in software. The
+    green led on the board signifies if the board is allowing control messages.
+
+  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+Toyota/Lexus
+------
+
+  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+    the stock system.
+
+  - With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled 
+    by the stock system and is subject to the stock adaptive cruise control limits. Without the
+    stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
+    value is limited by the board and the software to between .3g of deceleration and .15g of
+    acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
+    cruise control system is disengaged.
+
+  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
+    software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
+    commands outside these limits.  A steering torque rate limit is enforced by the board and in
+    software so that the commanded steering torque must rise from 0 to max value no faster than
+    1.5s. Commanded steering torque is limited by the board and in software to be no more than 350
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+  - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
+    respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
+    board and in software. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal.
+
+  - The cruise control system state is contained in the 0x1D2 message. No control messages are
+    allowed if the cruise control system is not active. This is enforced by the software and the
+    board. The green led on the board signifies if the board is allowing control messages.
--- a/apk/ai.comma.plus.black.apk
+++ b/apk/ai.comma.plus.black.apk
--- a/apk/ai.comma.plus.frame.apk
+++ b/apk/ai.comma.plus.frame.apk
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/apk/com.baseui.apk
+++ b/apk/com.baseui.apk
--- a/apk/external/.gitignore
+++ b/apk/external/.gitignore
@@ -0,0 +1,2 @@
+src/*
+out/*
--- a/apk/external/com.spotify.music.apkpatch
+++ b/apk/external/com.spotify.music.apkpatch
--- a/apk/external/com.waze.apkpatch
+++ b/apk/external/com.waze.apkpatch
--- a/apk/external/out/.gitkeep
+++ b/apk/external/out/.gitkeep
--- a/apk/external/patcher.py
+++ b/apk/external/patcher.py
@@ -0,0 +1,122 @@
+#!/usr/bin/env python2.7
+
+import os
+import sys
+import glob
+import shutil
+import urllib2
+import hashlib
+import subprocess
+
+
+EXTERNAL_PATH = os.path.dirname(os.path.abspath(__file__))
+
+if os.path.exists("/init.qcom.rc"):
+  # android
+  APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch_android')
+  SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk_android')
+else:
+  APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch')
+  SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk')
+
+APKS = {
+  'com.waze': {
+    'src': 'https://apkcache.s3.amazonaws.com/com.waze_1021278.apk',
+    'src_sha256': 'f00957e93e2389f9e30502ac54994b98ac769314b0963c263d4e8baa625ab0c2',
+    'patch': 'com.waze.apkpatch',
+    'out_sha256': '9ec8b0ea3c78c666342865b1bfb66e368a3f5c911df2ad12835206ec8b19f444'
+  },
+  'com.spotify.music': {
+    'src': 'https://apkcache.s3.amazonaws.com/com.spotify.music_24382006.apk',
+    'src_sha256': '0610fea68ee7ba5f8e4e0732ad429d729dd6cbb8bc21222c4c99db6cb09fbff4',
+    'patch': 'com.spotify.music.apkpatch',
+    'out_sha256': '5a3d6f478c7e40403a98ccc8906d7e0ae12b06543b41f5df52149dd09c647c11'
+  },
+}
+
+def sha256_path(path):
+  with open(path, 'rb') as f:
+    return hashlib.sha256(f.read()).hexdigest()
+
+def remove(path):
+  try:
+    os.remove(path)
+  except OSError:
+    pass
+
+def process(download, patch):
+  # clean up any junk apks
+  for out_apk in glob.glob(os.path.join(EXTERNAL_PATH, 'out/*.apk')):
+    app = os.path.basename(out_apk)[:-4]
+    if app not in APKS:
+      print "remove junk", out_apk
+      remove(out_apk)
+
+  complete = True
+  for k,v in APKS.iteritems():
+    apk_path = os.path.join(EXTERNAL_PATH, 'out', k+'.apk')
+    print "checking", apk_path
+    if os.path.exists(apk_path) and sha256_path(apk_path) == v['out_sha256']:
+      # nothing to do
+      continue
+
+    complete = False
+
+    remove(apk_path)
+
+    src_path = os.path.join(EXTERNAL_PATH, 'src', v['src_sha256'])
+    if not os.path.exists(src_path) or sha256_path(src_path) != v['src_sha256']:
+      if not download:
+        continue
+
+      print "downloading", v['src'], "to", src_path
+      # download it
+      resp = urllib2.urlopen(v['src'])
+      data = resp.read()
+      with open(src_path, 'wb') as src_f:
+        src_f.write(data)
+
+      if sha256_path(src_path) != v['src_sha256']:
+        print "download was corrupted..."
+        continue
+
+    if not patch:
+      continue
+
+    # ignoring lots of TOCTTOU here...
+
+    apk_temp = "/tmp/"+k+".patched"
+    remove(apk_temp)
+    apk_temp2 = "/tmp/"+k+".signed"
+    remove(apk_temp2)
+
+    try:
+      print "patching", v['patch']
+      subprocess.check_call([APKPATCH, 'apply', src_path, apk_temp, os.path.join(EXTERNAL_PATH, v['patch'])])
+      print "signing", apk_temp
+      subprocess.check_call([SIGNAPK,
+        os.path.join(EXTERNAL_PATH, 'tools/certificate.pem'), os.path.join(EXTERNAL_PATH, 'tools/key.pk8'),
+        apk_temp, apk_temp2])
+
+      out_sha256 = sha256_path(apk_temp2) if os.path.exists(apk_temp2) else None
+
+      if out_sha256 == v['out_sha256']:
+        print "done", apk_path
+        shutil.move(apk_temp2, apk_path)
+      else:
+        print "patch was corrupted", apk_temp2, out_sha256
+    finally:
+      remove(apk_temp)
+      remove(apk_temp2)
+
+  return complete
+
+if __name__ == "__main__":
+  ret = True
+  if len(sys.argv) == 2 and sys.argv[1] == "download":
+    ret = process(True, False)
+  elif len(sys.argv) == 2 and sys.argv[1] == "patch":
+    ret = process(False, True)
+  else:
+    ret = process(True, True)
+  sys.exit(0 if ret else 1)
--- a/selfdrive/radar/nidec/init.py
+++ b/selfdrive/radar/nidec/init.py
--- a/apk/external/tools/ApkPatch.android.jar
+++ b/apk/external/tools/ApkPatch.android.jar
--- a/apk/external/tools/apkpatch_android
+++ b/apk/external/tools/apkpatch_android
@@ -0,0 +1,7 @@
+#!/system/bin/sh
+
+DIR="$(cd "$(dirname "$0")" && pwd)"
+
+export LD_LIBRARY_PATH=/system/lib64
+export CLASSPATH="$DIR"/ApkPatch.android.jar
+exec app_process "$DIR" ApkPatch "$@"
--- a/apk/external/tools/certificate.pem
+++ b/apk/external/tools/certificate.pem
@@ -0,0 +1,17 @@
+-----BEGIN CERTIFICATE-----
+MIICtTCCAh4CCQDm79UqF+Dc5zANBgkqhkiG9w0BAQUFADCBnjELMAkGA1UEBhMC
+SUQxEzARBgNVBAgTCkphd2EgQmFyYXQxEDAOBgNVBAcTB0JhbmR1bmcxEjAQBgNV
+BAoTCUxvbmRhdGlnYTETMBEGA1UECxMKQW5kcm9pZERldjEaMBgGA1UEAxMRTG9y
+ZW5zaXVzIFcuIEwuIFQxIzAhBgkqhkiG9w0BCQEWFGxvcmVuekBsb25kYXRpZ2Eu
+bmV0MB4XDTEwMDUwNTA5MjEzOFoXDTEzMDEyODA5MjEzOFowgZ4xCzAJBgNVBAYT
+AklEMRMwEQYDVQQIEwpKYXdhIEJhcmF0MRAwDgYDVQQHEwdCYW5kdW5nMRIwEAYD
+VQQKEwlMb25kYXRpZ2ExEzARBgNVBAsTCkFuZHJvaWREZXYxGjAYBgNVBAMTEUxv
+cmVuc2l1cyBXLiBMLiBUMSMwIQYJKoZIhvcNAQkBFhRsb3JlbnpAbG9uZGF0aWdh
+Lm5ldDCBnzANBgkqhkiG9w0BAQEFAAOBjQAwgYkCgYEAy2oWtbdVXMHGiS6cA3qi
+3VfZt5Vz9jTlux+TEcGx5h18ZKwclyo+z2B0L/p5bYdnrTdFEiD7IxvX+h3lu0JV
+B9rdXZdyrzXNOw5YFrsn2k7hKvB8KEBaga1gZEwodlc6N14H3FbZdZkIA9V716Pu
+e5CWBZ2VqU03lUJmKnpH8c8CAwEAATANBgkqhkiG9w0BAQUFAAOBgQBpNgXh8dw9
+uMjZxzLUXovV5ptHd61jAcZlQlffqPsz6/2QNfIShVdGH9jkm0IudfKkbvvOKive
+a77t9c4sDh2Sat2L/rx6BfTuS1+y9wFr1Ee8Rrr7wGHhRkx2qqGrXGVWqXn8aE3E
+P6e7BTPF0ibS+tG8cdDPEisqGFxw36nTNQ==
+-----END CERTIFICATE-----
--- a/apk/external/tools/key.pk8
+++ b/apk/external/tools/key.pk8
--- a/apk/external/tools/signapk.android.jar
+++ b/apk/external/tools/signapk.android.jar
--- a/apk/external/tools/signapk_android
+++ b/apk/external/tools/signapk_android
@@ -0,0 +1,7 @@
+#!/system/bin/sh
+
+DIR="$(cd "$(dirname "$0")" && pwd)"
+
+export LD_LIBRARY_PATH=/system/lib64
+export CLASSPATH="$DIR"/signapk.android.jar
+exec app_process "$DIR" com.android.signapk.SignApk "$@"
--- a/cereal/Makefile
+++ b/cereal/Makefile
@@ -1,4 +1,52 @@
-include build_from_src.mk
+PWD := $(shell pwd)
+
+SRCS := log.capnp car.capnp
+
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+
+UNAME_M ?= $(shell uname -m)
+
+# only generate C++ for docker tests
+ifneq ($(OPTEST),1)
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
+
+# Dont build java on the phone...
+ifeq ($(UNAME_M),x86_64)
+	GENS += gen/java/Car.java gen/java/Log.java
+endif
+
+endif
+
+ifeq ($(UNAME_M),aarch64)
+CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
+else
+CAPNPC=capnpc
+endif
+
+.PHONY: all
+all: $(GENS)
+
+.PHONY: clean
+clean:
+	rm -rf gen
+
+gen/c/%.capnp.c: %.capnp
+	@echo "[ CAPNPC C ] $@"
+	mkdir -p gen/c/
+	$(CAPNPC) '$<' -o c:gen/c/
+
+gen/cpp/%.capnp.c++: %.capnp
+	@echo "[ CAPNPC C++ ] $@"
+	mkdir -p gen/cpp/
+	$(CAPNPC) '$<' -o c++:gen/cpp/
+
+gen/java/Car.java gen/java/Log.java: $(SRCS)
+	@echo "[ CAPNPC java ] $@"
+	mkdir -p gen/java/
+	$(CAPNPC) $^ -o java:gen/java
+
+# c-capnproto needs some empty headers
+gen/c/c++.capnp.h gen/c/java.capnp.h:
+	mkdir -p gen/c/
+	touch '$@'

-release:
-	@echo "cereal: this is a release"
--- a/cereal/init.py
+++ b/cereal/init.py
@@ -1,8 +1,20 @@
 import os
 import capnp
-capnp.remove_import_hook()

 CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
-log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+capnp.remove_import_hook()

+if os.getenv("NEWCAPNP"):
+  import tempfile
+  import pyximport
+
+  importers = pyximport.install(build_dir=os.path.join(tempfile.gettempdir(), ".pyxbld"))
+  try:
+    import cereal.gen.cython.log_capnp_cython as log
+    import cereal.gen.cython.car_capnp_cython as car
+  finally:
+    pyximport.uninstall(*importers)
+    del importers
+else:
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
--- a/cereal/build_from_src.mk
+++ b/cereal/build_from_src.mk
@@ -1,38 +0,0 @@
-SRCS := log.capnp car.capnp
-
-GENS := gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h \
-	      gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
-
-# Dont build java on the phone...
-UNAME_M := $(shell uname -m)
-ifeq ($(UNAME_M),x86_64)
-	GENS += gen/java/Car.java gen/java/Log.java
-endif
-
-.PHONY: all
-all: $(GENS)
-
-.PHONY: clean
-clean:
-	rm -rf gen
-
-gen/c/%.capnp.c: %.capnp
-	@echo "[ CAPNPC C ] $@"
-	mkdir -p gen/c/
-	capnpc '$<' -o c:gen/c/
-
-gen/cpp/%.capnp.c++: %.capnp
-	@echo "[ CAPNPC C++ ] $@"
-	mkdir -p gen/cpp/
-	capnpc '$<' -o c++:gen/cpp/
-
-gen/java/Car.java gen/java/Log.java: $(SRCS)
-	@echo "[ CAPNPC java ] $@"
-	mkdir -p gen/java/
-	capnpc $^ -o java:gen/java
-
-# c-capnproto needs some empty headers
-gen/c/c++.capnp.h gen/c/java.capnp.h:
-	mkdir -p gen/c/
-	touch '$@'
-
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -7,14 +7,69 @@ $Java.outerClassname("Car");

@0x8e2af1e708af8b8d;

+# ******* events causing controls state machine transition *******
+
+struct CarEvent @0x9b1657f34caf3ad3 {
+  name @0 :EventName;
+  enable @1 :Bool;
+  noEntry @2 :Bool;
+  warning @3 :Bool;
+  userDisable @4 :Bool;
+  softDisable @5 :Bool;
+  immediateDisable @6 :Bool;
+  preEnable @7 :Bool;
+  permanent @8 :Bool;
+
+  enum EventName @0xbaa8c5d505f727de {
+    # TODO: copy from error list
+    commIssue @0;
+    steerUnavailable @1;
+    brakeUnavailable @2;
+    gasUnavailable @3;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTempUnavailable @9;
+    reverseGear @10;
+    buttonCancel @11;
+    buttonEnable @12;
+    pedalPressed @13;
+    cruiseDisabled @14;
+    radarCommIssue @15;
+    dataNeeded @16;
+    speedTooLow @17;
+    outOfSpace @18;
+    overheat @19;
+    calibrationInProgress @20;
+    calibrationInvalid @21;
+    controlsMismatch @22;
+    pcmEnable @23;
+    pcmDisable @24;
+    noTarget @25;
+    radarFault @26;
+    modelCommIssue @27;
+    brakeHold @28;
+    parkBrake @29;
+    manualRestart @30;
+    lowSpeedLockout @31;
+  }
+}
+
 # ******* main car state @ 100hz *******
 # all speeds in m/s

 struct CarState {
-  errors @0: List(Error);
+  errorsDEPRECATED @0 :List(CarEvent.EventName);
+  events @13 :List(CarEvent);

  # car speed
-  vEgo @1 :Float32;       # best estimate of speed
+  vEgo @1 :Float32;         # best estimate of speed
+  aEgo @16 :Float32;        # best estimate of acceleration
+  vEgoRaw @17 :Float32;     # unfiltered speed from CAN sensors
+  yawRate @22 :Float32;     # best estimate of yaw rate
+  standstill @18 :Bool;
  wheelSpeeds @2 :WheelSpeeds;

  # gas pedal, 0.0-1.0
@@ -24,17 +79,29 @@ struct CarState {
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
+  brakeLights @19 :Bool;

  # steering wheel
  steeringAngle @7 :Float32;   # deg
+  steeringRate @15 :Float32;   # deg/s
  steeringTorque @8 :Float32;  # TODO: standardize units
  steeringPressed @9 :Bool;    # if the user is using the steering wheel

  # cruise state
  cruiseState @10 :CruiseState;

+  # gear
+  gearShifter @14 :GearShifter;
+
  # button presses
  buttonEvents @11 :List(ButtonEvent);
+  leftBlinker @20 :Bool;
+  rightBlinker @21 :Bool;
+  genericToggle @23 :Bool;
+
+  # lock info
+  doorOpen @24 :Bool;
+  seatbeltUnlatched @25 :Bool;

  # which packets this state came from
  canMonoTimes @12: List(UInt64);
@@ -48,30 +115,29 @@ struct CarState {
  }

  struct CruiseState {
-    enabled @0: Bool;
-    speed @1: Float32;
+    enabled @0 :Bool;
+    speed @1 :Float32;
+    available @2 :Bool;
+    speedOffset @3 :Float32;
+    standstill @4 :Bool;
  }

-  enum Error {
-    # TODO: copy from error list
-    commIssue @0;
-    steerUnavailable @1;
-    brakeUnavailable @2;
-    gasUnavailable @3;
-    wrongGear @4;
-    doorOpen @5;
-    seatbeltNotLatched @6;
-    espDisabled @7;
-    wrongCarMode @8;
-    steerTemporarilyUnavailable @9;
-    reverseGear @10;
-    # ...
+  enum GearShifter {
+    unknown @0;
+    park @1;
+    drive @2;
+    neutral @3;
+    reverse @4;
+    sport @5;
+    low @6;
+    brake @7;
  }

+
  # send on change
  struct ButtonEvent {
-    pressed @0: Bool;
-    type @1: Type;
+    pressed @0 :Bool;
+    type @1 :Type;

    enum Type {
      unknown @0;
@@ -90,29 +156,33 @@ struct CarState {
 # ******* radar state @ 20hz *******

 struct RadarState {
-  errors @0: List(Error);
-  points @1: List(RadarPoint);
+  errors @0 :List(Error);
+  points @1 :List(RadarPoint);

  # which packets this state came from
-  canMonoTimes @2: List(UInt64);
+  canMonoTimes @2 :List(UInt64);

  enum Error {
-    notValid @0;
+    commIssue @0;
+    fault @1;
  }

  # similar to LiveTracks
  # is one timestamp valid for all? I think so
  struct RadarPoint {
-    trackId @0: UInt64;  # no trackId reuse
+    trackId @0 :UInt64;  # no trackId reuse

    # these 3 are the minimum required
-    dRel @1: Float32; # m from the front bumper of the car
-    yRel @2: Float32; # m
-    vRel @3: Float32; # m/s
+    dRel @1 :Float32; # m from the front bumper of the car
+    yRel @2 :Float32; # m
+    vRel @3 :Float32; # m/s

    # these are optional and valid if they are not NaN
-    aRel @4: Float32; # m/s^2
-    yvRel @5: Float32; # m/s
+    aRel @4 :Float32; # m/s^2
+    yvRel @5 :Float32; # m/s
+
+    # some radars flag measurements VS estimates
+    measured @6 :Bool;
  }
 }

@@ -120,17 +190,24 @@ struct RadarState {

 struct CarControl {
  # must be true for any actuator commands to work
-  enabled @0: Bool;
+  enabled @0 :Bool;

-  # range from 0.0 - 1.0
-  gas @1: Float32;
-  brake @2: Float32;
+  gasDEPRECATED @1 :Float32;
+  brakeDEPRECATED @2 :Float32;
+  steeringTorqueDEPRECATED @3 :Float32;

-  # range from -1.0 - 1.0
-  steeringTorque @3 :Float32;
+  actuators @6 :Actuators;

-  cruiseControl @4: CruiseControl;
-  hudControl @5: HUDControl;
+  cruiseControl @4 :CruiseControl;
+  hudControl @5 :HUDControl;
+
+  struct Actuators {
+    # range from 0.0 - 1.0
+    gas @0: Float32;
+    brake @1: Float32;
+    # range from -1.0 - 1.0
+    steer @2: Float32;
+  }

  struct CruiseControl {
    cancel @0: Bool;
@@ -177,26 +254,68 @@ struct CarControl {
 # ****** car param ******

 struct CarParams {
-  carName @0: Text;
-  radarName @1: Text;
-  carFingerprint @11: Text;
+  carName @0 :Text;
+  radarNameDEPRECATED @1 :Text;
+  carFingerprint @2 :Text;

-  enableSteer @2: Bool;
-  enableGas @3: Bool;
-  enableBrake @4: Bool;
-  enableCruise @5: Bool;
+  enableSteer @3 :Bool;
+  enableGas @4 :Bool;
+  enableBrake @5 :Bool;
+  enableCruise @6 :Bool;
+  enableCamera @26 :Bool;
+  enableDsu @27 :Bool; # driving support unit
+  enableApgs @28 :Bool; # advanced parking guidance system
+
+  minEnableSpeed @17 :Float32;
+  safetyModel @18 :Int16;
+  safetyParam @41 :Int16;
+
+  steerMaxBP @19 :List(Float32);
+  steerMaxV @20 :List(Float32);
+  gasMaxBP @21 :List(Float32);
+  gasMaxV @22 :List(Float32);
+  brakeMaxBP @23 :List(Float32);
+  brakeMaxV @24 :List(Float32);
+
+  longPidDeadzoneBP @32 :List(Float32);
+  longPidDeadzoneV @33 :List(Float32);
+
+  enum SafetyModels {
+    # does NOT match board setting
+    noOutput @0;
+    honda @1;
+    toyota @2;
+    elm327 @3;
+  }

  # things about the car in the manual
-  wheelBase @6: Float32;     # in meters
-  steerRatio @7: Float32;
+  mass @7 :Float32;             # [kg] running weight
+  wheelbase @8 :Float32;        # [m] distance from rear to front axle
+  centerToFront @9 :Float32;   # [m] GC distance to front axle
+  steerRatio @10 :Float32;       # [] ratio between front wheels and steering wheel angles
+  steerRatioRear @11 :Float32;  # [] rear steering ratio wrt front steering (usually 0)

  # things we can derive
-  slipFactor @8: Float32;
+  rotationalInertia @12 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFront @13 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff

  # Kp and Ki for the lateral control
-  steerKp @9: Float32;
-  steerKi @10: Float32;
+  steerKp @15 :Float32;
+  steerKi @16 :Float32;
+  steerKf @25 :Float32;

-  # TODO: Kp and Ki for long control, perhaps not needed?
+  # Kp and Ki for the longitudinal control
+  longitudinalKpBP @36 :List(Float32);
+  longitudinalKpV @37 :List(Float32);
+  longitudinalKiBP @38 :List(Float32);
+  longitudinalKiV @39 :List(Float32);
+
+  steerLimitAlert @29 :Bool;
+
+  vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state
+  directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
+  stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
+  startAccel @35 :Float32; # Required acceleraton to overcome creep braking
+  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
 }
-
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -26,15 +26,25 @@ struct InitData {

  deviceType @3 :DeviceType;
  version @4 :Text;
+  gitCommit @10 :Text;
+  gitBranch @11 :Text;
+  gitRemote @13 :Text;

  androidBuildInfo @5 :AndroidBuildInfo;
  androidSensors @6 :List(AndroidSensor);
  chffrAndroidExtra @7 :ChffrAndroidExtra;
+  iosBuildInfo @14 :IosBuildInfo;
+
+  pandaInfo @8 :PandaInfo;
+
+  dirty @9 :Bool;
+  passive @12 :Bool;

  enum DeviceType {
    unknown @0;
    neo @1;
    chffrAndroid @2;
+    chffrIos @3;
  }

  struct AndroidBuildInfo {
@@ -84,6 +94,20 @@ struct InitData {
  struct ChffrAndroidExtra {
    allCameraCharacteristics @0 :Map(Text, Text);
  }
+
+  struct IosBuildInfo {
+    appVersion @0 :Text;
+    appBuild @1 :UInt32;
+    osVersion @2 :Text;
+    deviceModel @3 :Text;
+  }
+
+  struct PandaInfo {
+    hasPanda @0 :Bool;
+    dongleId @1 :Text;
+    stVersion @2 :Text;
+    espVersion @3 :Text;
+  }
 }

 struct FrameData {
@@ -97,9 +121,10 @@ struct FrameData {

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
+  transform @10 :List(Float32);

  androidCaptureResult @9 :AndroidCaptureResult;
-  
+
  enum FrameType {
    unknown @0;
    neo @1;
@@ -129,11 +154,18 @@ struct SensorEventData {
  sensor @1 :Int32;
  type @2 :Int32;
  timestamp @3 :Int64;
+  uncalibratedDEPRECATED @10 :Bool;
+
  union {
    acceleration @4 :SensorVec;
    magnetic @5 :SensorVec;
    orientation @6 :SensorVec;
    gyro @7 :SensorVec;
+    pressure @9 :SensorVec;
+    magneticUncalibrated @11 :SensorVec;
+    gyroUncalibrated @12 :SensorVec;
+    proximity @13: Float32;
+    light @14: Float32;
  }
  source @8 :SensorSource;

@@ -170,7 +202,7 @@ struct GpsLocationData {
  # Represents heading in degrees.
  bearing @5 :Float32;

-  # Represents expected accuracy in meters.
+  # Represents expected accuracy in meters. (presumably 1 sigma?)
  accuracy @6 :Float32;

  # Timestamp for the location fix.
@@ -179,6 +211,18 @@ struct GpsLocationData {

  source @8 :SensorSource;

+  # Represents NED velocity in m/s.
+  vNED @9 :List(Float32);
+
+  # Represents expected vertical accuracy in meters. (presumably 1 sigma?)
+  verticalAccuracy @10 :Float32;
+
+  # Represents bearing accuracy in degrees. (presumably 1 sigma?)
+  bearingAccuracy @11 :Float32;
+
+  # Represents velocity accuracy in m/s. (presumably 1 sigma?)
+  speedAccuracy @12 :Float32;
+
  enum SensorSource {
    android @0;
    iOS @1;
@@ -186,6 +230,8 @@ struct GpsLocationData {
    velodyne @3;  # Velodyne IMU
    fusion @4;
    external @5;
+    ublox @6;
+    trimble @7;
  }
 }

@@ -193,7 +239,7 @@ struct CanData {
  address @0 :UInt32;
  busTime @1 :UInt16;
  dat     @2 :Data;
-  src     @3 :Int8;
+  src     @3 :UInt8;
 }

 struct ThermalData {
@@ -208,7 +254,12 @@ struct ThermalData {
  # not thermal
  freeSpace @7 :Float32;
  batteryPercent @8 :Int16;
-  batteryStatus @9: Text;
+  batteryStatus @9 :Text;
+  usbOnline @12 :Bool;
+
+  fanSpeed @10 :UInt16;
+  started @11 :Bool;
+  startedTs @13 :UInt64;
 }

 struct HealthData {
@@ -223,15 +274,17 @@ struct HealthData {

 struct LiveUI {
  rearViewCam @0 :Bool;
-  alertText1 @1 :Text; 
-  alertText2 @2 :Text; 
+  alertText1 @1 :Text;
+  alertText2 @2 :Text;
  awarenessStatus @3 :Float32;
 }

 struct Live20Data {
  canMonoTimes @10 :List(UInt64);
  mdMonoTime @6 :UInt64;
-  ftMonoTime @7 :UInt64;
+  ftMonoTimeDEPRECATED @7 :UInt64;
+  l100MonoTime @11 :UInt64;
+  radarErrors @12 :List(Car.RadarState.Error);

  # all deprecated
  warpMatrixDEPRECATED @0 :List(Float32);
@@ -250,7 +303,7 @@ struct Live20Data {
    vRel @2 :Float32;
    aRel @3 :Float32;
    vLead @4 :Float32;
-    aLead @5 :Float32;
+    aLeadDEPRECATED @5 :Float32;
    dPath @6 :Float32;
    vLat @7 :Float32;
    vLeadK @8 :Float32;
@@ -262,6 +315,7 @@ struct Live20Data {

 struct LiveCalibrationData {
  warpMatrix @0 :List(Float32);
+  warpMatrix2 @5 :List(Float32);
  calStatus @1 :Int8;
  calCycle @2 :Int32;
  calPerc @3 :Int8;
@@ -284,39 +338,81 @@ struct LiveTracks {
 }

 struct Live100Data {
-  canMonoTime @16 :UInt64;
+  canMonoTimeDEPRECATED @16 :UInt64;
  canMonoTimes @21 :List(UInt64);
-  l20MonoTime @17 :UInt64;
-  mdMonoTime @18 :UInt64;
+  l20MonoTimeDEPRECATED @17 :UInt64;
+  mdMonoTimeDEPRECATED @18 :UInt64;
+  planMonoTime @28 :UInt64;

+  state @31 :ControlState;
  vEgo @0 :Float32;
+  vEgoRaw @32 :Float32;
  aEgoDEPRECATED @1 :Float32;
+  longControlState @30 :LongControlState;
  vPid @2 :Float32;
  vTargetLead @3 :Float32;
  upAccelCmd @4 :Float32;
  uiAccelCmd @5 :Float32;
-  yActual @6 :Float32;
-  yDes @7 :Float32;
+  ufAccelCmd @33 :Float32;
+  yActualDEPRECATED @6 :Float32;
+  yDesDEPRECATED @7 :Float32;
  upSteer @8 :Float32;
  uiSteer @9 :Float32;
-  aTargetMin @10 :Float32;
-  aTargetMax @11 :Float32;
+  ufSteer @34 :Float32;
+  aTargetMinDEPRECATED @10 :Float32;
+  aTargetMaxDEPRECATED @11 :Float32;
+  aTarget @35 :Float32;
  jerkFactor @12 :Float32;
-  angleSteers @13 :Float32;  # Steering angle in degrees.
+  angleSteers @13 :Float32;     # Steering angle in degrees.
+  angleSteersDes @29 :Float32;
+  curvature @37 :Float32;       # path curvature from vehicle model
  hudLeadDEPRECATED @14 :Int32;
  cumLagMs @15 :Float32;

-  enabled @19: Bool;
-  steerOverride @20: Bool;
+  enabled @19 :Bool;
+  active @36 :Bool;
+  steerOverride @20 :Bool;

-  vCruise @22: Float32;
+  vCruise @22 :Float32;

  rearViewCam @23 :Bool;
-  alertText1 @24 :Text; 
-  alertText2 @25 :Text; 
+  alertText1 @24 :Text;
+  alertText2 @25 :Text;
+  alertStatus @38 :AlertStatus;
+  alertSize @39 :AlertSize;
  awarenessStatus @26 :Float32;

  angleOffset @27 :Float32;
+
+  gpsPlannerActive @40 :Bool;
+
+  enum ControlState {
+    disabled @0;
+    preEnabled @1;
+    enabled @2;
+    softDisabling @3;
+  }
+
+  enum LongControlState {
+    off @0;
+    pid @1;
+    stopping @2;
+    starting @3;
+  }
+
+  enum AlertStatus {
+    normal @0;       # low priority alert for user's convenience
+    userPrompt @1;   # mid piority alert that might require user intervention
+    critical @2;     # high priority alert that needs immediate user intervention
+  }
+
+  enum AlertSize {
+    none @0;    # don't display the alert
+    small @1;   # small box
+    mid @2;     # mid screen
+    full @3;    # full screen
+  }
+
 }

 struct LiveEventData {
@@ -331,6 +427,7 @@ struct ModelData {
  leftLane @2 :PathData;
  rightLane @3 :PathData;
  lead @4 :LeadData;
+  freePath @6 :List(Float32);

  settings @5 :ModelSettings;

@@ -353,6 +450,7 @@ struct ModelData {
    bigBoxHeight @3 :UInt16;
    boxProjection @4 :List(Float32);
    yuvCorrection @5 :List(Float32);
+    inputTransform @6 :List(Float32);
  }
 }

@@ -365,7 +463,7 @@ struct CalibrationFeatures {
 }

 struct EncodeIndex {
-  # picture from camera 
+  # picture from camera
  frameId @0 :UInt32;
  type @1 :Type;
  # index of encoder from start of route
@@ -381,7 +479,8 @@ struct EncodeIndex {
    bigBoxLossless @0;   # rcamera.mkv
    fullHEVC @1;         # fcamera.hevc
    bigBoxHEVC @2;       # bcamera.hevc
-    chffrAndroidH264 @3; # camera
+    chffrAndroidH264 @3; # acamera
+    fullLosslessClip @4; # prcamera.mkv
  }
 }

@@ -401,66 +500,111 @@ struct LogRotate {
 }

 struct Plan {
+  mdMonoTime @9 :UInt64;
+  l20MonoTime @10 :UInt64;
+  events @13 :List(Car.CarEvent);
+
  # lateral, 3rd order polynomial
-  lateralValid @0: Bool;
+  lateralValid @0 :Bool;
  dPoly @1 :List(Float32);
+  laneWidth @11 :Float32;

  # longitudinal
-  longitudinalValid @2: Bool;
+  longitudinalValid @2 :Bool;
+  vCruise @16 :Float32;
+  aCruise @17 :Float32;
  vTarget @3 :Float32;
-  aTargetMin @4 :Float32;
-  aTargetMax @5 :Float32;
+  vTargetFuture @14 :Float32;
+  aTargetMinDEPRECATED @4 :Float32;
+  aTargetMaxDEPRECATED @5 :Float32;
+  aTarget @18 :Float32;
  jerkFactor @6 :Float32;
+  hasLead @7 :Bool;
+  fcw @8 :Bool;
+  longitudinalPlanSource @15 :LongitudinalPlanSource;
+
+  # gps trajectory in car frame
+  gpsTrajectory @12 :GpsTrajectory;
+
+  gpsPlannerActive @19 :Bool;
+
+  struct GpsTrajectory {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+  }
+
+  enum LongitudinalPlanSource {
+    cruise @0;
+    mpc1 @1;
+    mpc2 @2;
+  }
 }

 struct LiveLocationData {
-  status @0: UInt8;
+  status @0 :UInt8;

-  # 3D fix 
-  lat @1: Float64;
-  lon @2: Float64;
-  alt @3: Float32;     # m
+  # 3D fix
+  lat @1 :Float64;
+  lon @2 :Float64;
+  alt @3 :Float32;     # m

  # speed
-  speed @4: Float32;   # m/s
+  speed @4 :Float32;   # m/s

  # NED velocity components
-  vNED @5: List(Float32);
+  vNED @5 :List(Float32);

  # roll, pitch, heading (x,y,z)
-  roll @6: Float32;     # WRT to center of earth?
-  pitch @7: Float32;    # WRT to center of earth?
-  heading @8: Float32;  # WRT to north?
+  roll @6 :Float32;     # WRT to center of earth?
+  pitch @7 :Float32;    # WRT to center of earth?
+  heading @8 :Float32;  # WRT to north?

  # what are these?
-  wanderAngle @9: Float32;
-  trackAngle @10: Float32;
+  wanderAngle @9 :Float32;
+  trackAngle @10 :Float32;

  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png

  # gyro, in car frame, deg/s
-  gyro @11: List(Float32);
+  gyro @11 :List(Float32);

  # accel, in car frame, m/s^2
-  accel @12: List(Float32);
+  accel @12 :List(Float32);

-  accuracy @13: Accuracy;
+  accuracy @13 :Accuracy;
+
+  source @14 :SensorSource;
+  # if we are fixing a location in the past
+  fixMonoTime @15 :UInt64;
+  
+  gpsWeek @16 :Int32;
+  timeOfWeek @17 :Float64;
+
+  positionECEF @18 :List(Float64);
+  poseQuatECEF @19 :List(Float32);

  struct Accuracy {
-    pNEDError @0: List(Float32);
-    vNEDError @1: List(Float32);
-    rollError @2: Float32;
-    pitchError @3: Float32;
-    headingError @4: Float32;
-    ellipsoidSemiMajorError @5: Float32;
-    ellipsoidSemiMinorError @6: Float32;
-    ellipsoidOrientationError @7: Float32;
+    pNEDError @0 :List(Float32);
+    vNEDError @1 :List(Float32);
+    rollError @2 :Float32;
+    pitchError @3 :Float32;
+    headingError @4 :Float32;
+    ellipsoidSemiMajorError @5 :Float32;
+    ellipsoidSemiMinorError @6 :Float32;
+    ellipsoidOrientationError @7 :Float32;
+  }
+
+  enum SensorSource {
+    applanix @0;
+    kalman @1;
+    orbslam @2;
+    timing @3;
  }
 }

 struct EthernetPacket {
  pkt @0 :Data;
-  ts @1: Float32;
+  ts @1 :Float32;
 }

 struct NavUpdate {
@@ -510,6 +654,23 @@ struct NavUpdate {
  }
 }

+struct NavStatus {
+  isNavigating @0 :Bool;
+  currentAddress @1 :Address;
+
+  struct Address {
+    title @0 :Text;
+    lat @1 :Float64;
+    lng @2 :Float64;
+    house @3 :Text;
+    address @4 :Text;
+    street @5 :Text;
+    city @6 :Text;
+    state @7 :Text;
+    country @8 :Text;
+  }
+}
+
 struct CellInfo {
  timestamp @0 :UInt64;
  repr @1 :Text; # android toString() for now
@@ -562,7 +723,7 @@ struct AndroidGnss {

      hasLeapSecond @4 :Bool;
      leapSecond @5 :Int32;
-      
+
      hasFullBiasNanos @6 :Bool;
      fullBiasNanos @7 :Int64;

@@ -571,10 +732,10 @@ struct AndroidGnss {

      hasBiasUncertaintyNanos @10 :Bool;
      biasUncertaintyNanos @11 :Float64;
-      
+
      hasDriftNanosPerSecond @12 :Bool;
      driftNanosPerSecond @13 :Float64;
-      
+
      hasDriftUncertaintyNanosPerSecond @14 :Bool;
      driftUncertaintyNanosPerSecond @15 :Float64;
    }
@@ -593,7 +754,7 @@ struct AndroidGnss {
      accumulatedDeltaRangeState @9 :Int32;
      accumulatedDeltaRangeMeters @10 :Float64;
      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
-      
+
      hasCarrierFrequencyHz @12 :Bool;
      carrierFrequencyHz @13 :Float32;
      hasCarrierCycles @14 :Bool;
@@ -664,10 +825,68 @@ struct QcomGnss {
  union {
    measurementReport @1 :MeasurementReport;
    clockReport @2 :ClockReport;
+    drMeasurementReport @3 :DrMeasurementReport;
+    drSvPoly @4 :DrSvPolyReport;
+    rawLog @5 :Data;
+  }
+
+  enum MeasurementSource @0xd71a12b6faada7ee {
+    gps @0;
+    glonass @1;
+    beidou @2;
+  }
+
+  enum SVObservationState @0xe81e829a0d6c83e9 {
+    idle @0;
+    search @1;
+    searchVerify @2;
+    bitEdge @3;
+    trackVerify @4;
+    track @5;
+    restart @6;
+    dpo @7;
+    glo10msBe @8;
+    glo10msAt @9;
+  }
+
+  struct MeasurementStatus @0xe501010e1bcae83b {
+    subMillisecondIsValid @0 :Bool;
+    subBitTimeIsKnown @1 :Bool;
+    satelliteTimeIsKnown @2 :Bool;
+    bitEdgeConfirmedFromSignal @3 :Bool;
+    measuredVelocity @4 :Bool;
+    fineOrCoarseVelocity @5 :Bool;
+    lockPointValid @6 :Bool;
+    lockPointPositive @7 :Bool;
+    lastUpdateFromDifference @8 :Bool;
+    lastUpdateFromVelocityDifference @9 :Bool;
+    strongIndicationOfCrossCorelation @10 :Bool;
+    tentativeMeasurement @11 :Bool;
+    measurementNotUsable @12 :Bool;
+    sirCheckIsNeeded @13 :Bool;
+    probationMode @14 :Bool;
+
+    glonassMeanderBitEdgeValid @15 :Bool;
+    glonassTimeMarkValid @16 :Bool;
+
+    gpsRoundRobinRxDiversity @17 :Bool;
+    gpsRxDiversity @18 :Bool;
+    gpsLowBandwidthRxDiversityCombined @19 :Bool;
+    gpsHighBandwidthNu4 @20 :Bool;
+    gpsHighBandwidthNu8 @21 :Bool;
+    gpsHighBandwidthUniform @22 :Bool;
+    multipathIndicator @23 :Bool;
+
+    imdJammingIndicator @24 :Bool;
+    lteB13TxJammingIndicator @25 :Bool;
+    freshMeasurementIndicator @26 :Bool;
+
+    multipathEstimateIsValid @27 :Bool;
+    directionIsValid @28 :Bool;
  }

  struct MeasurementReport {
-    source @0 :Source;
+    source @0 :MeasurementSource;

    fCount @1 :UInt32;

@@ -683,11 +902,6 @@ struct QcomGnss {

    sv @10 :List(SV);

-    enum Source {
-      gps @0;
-      glonass @1;
-    }
-
    struct SV {
      svId @0 :UInt8;
      observationState @2 :SVObservationState;
@@ -699,7 +913,7 @@ struct QcomGnss {
      filterStages @7 :UInt8;
      carrierNoise @8 :UInt16;
      latency @9 :Int16;
-      predetectIntegration @10 :UInt8;
+      predetectInterval @10 :UInt8;
      postdetections @11 :UInt16;

      unfilteredMeasurementIntegral @12 :UInt32;
@@ -716,55 +930,6 @@ struct QcomGnss {
      fineSpeed @23 :Float32;
      fineSpeedUncertainty @24 :Float32;
      cycleSlipCount @25 :UInt8;
-
-      struct MeasurementStatus {
-        subMillisecondIsValid @0 :Bool;
-        subBitTimeIsKnown @1 :Bool;
-        satelliteTimeIsKnown @2 :Bool;
-        bitEdgeConfirmedFromSignal @3 :Bool;
-        measuredVelocity @4 :Bool;
-        fineOrCoarseVelocity @5 :Bool;
-        lockPointValid @6 :Bool;
-        lockPointPositive @7 :Bool;
-        lastUpdateFromDifference @8 :Bool;
-        lastUpdateFromVelocityDifference @9 :Bool;
-        strongIndicationOfCrossCorelation @10 :Bool;
-        tentativeMeasurement @11 :Bool;
-        measurementNotUsable @12 :Bool;
-        sirCheckIsNeeded @13 :Bool;
-        probationMode @14 :Bool;
-        
-        glonassMeanderBitEdgeValid @15 :Bool;
-        glonassTimeMarkValid @16 :Bool;
-        
-        gpsRoundRobinRxDiversity @17 :Bool;
-        gpsRxDiversity @18 :Bool;
-        gpsLowBandwidthRxDiversityCombined @19 :Bool;
-        gpsHighBandwidthNu4 @20 :Bool;
-        gpsHighBandwidthNu8 @21 :Bool;
-        gpsHighBandwidthUniform @22 :Bool;
-        gpsMultipathIndicator @23 :Bool;
-        
-        imdJammingIndicator @24 :Bool;
-        lteB13TxJammingIndicator @25 :Bool;
-        freshMeasurementIndicator @26 :Bool;
-
-        multipathEstimateIsValid @27 :Bool;
-        directionIsValid @28 :Bool;
-      }
-
-      enum SVObservationState {
-        idle @0;
-        search @1;
-        searchVerify @2;
-        bitEdge @3;
-        trackVerify @4;
-        track @5;
-        restart @6;
-        dpo @7;
-        glo10msBe @8;
-        glo10msAt @9;
-      }
    }

  }
@@ -773,8 +938,8 @@ struct QcomGnss {
    hasFCount @0 :Bool;
    fCount @1 :UInt32;

-    hasGpsWeekNumber @2 :Bool;
-    gpsWeekNumber @3 :UInt16;
+    hasGpsWeek @2 :Bool;
+    gpsWeek @3 :UInt16;
    hasGpsMilliseconds @4 :Bool;
    gpsMilliseconds @5 :UInt32;
    gpsTimeBias @6 :Float32;
@@ -829,6 +994,119 @@ struct QcomGnss {
    lpmRtcCount @49 :UInt32;
    clockResets @50 :UInt32;
  }
+
+  struct DrMeasurementReport {
+
+    reason @0 :UInt8;
+    seqNum @1 :UInt8;
+    seqMax @2 :UInt8;
+    rfLoss @3 :UInt16;
+
+    systemRtcValid @4 :Bool;
+    fCount @5 :UInt32;
+    clockResets @6 :UInt32;
+    systemRtcTime @7 :UInt64;
+
+    gpsLeapSeconds @8 :UInt8;
+    gpsLeapSecondsUncertainty @9 :UInt8;
+    gpsToGlonassTimeBiasMilliseconds @10 :Float32;
+    gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
+
+    gpsWeek @12 :UInt16;
+    gpsMilliseconds @13 :UInt32;
+    gpsTimeBiasMs @14 :UInt32;
+    gpsClockTimeUncertaintyMs @15 :UInt32;
+    gpsClockSource @16 :UInt8;
+
+    glonassClockSource @17 :UInt8;
+    glonassYear @18 :UInt8;
+    glonassDay @19 :UInt16;
+    glonassMilliseconds @20 :UInt32;
+    glonassTimeBias @21 :Float32;
+    glonassClockTimeUncertainty @22 :Float32;
+
+    clockFrequencyBias @23 :Float32;
+    clockFrequencyUncertainty @24 :Float32;
+    frequencySource @25 :UInt8;
+
+    source @26 :MeasurementSource;
+
+    sv @27 :List(SV);
+
+    struct SV {
+      svId @0 :UInt8;
+      glonassFrequencyIndex @1 :Int8;
+      observationState @2 :SVObservationState;
+      observations @3 :UInt8;
+      goodObservations @4 :UInt8;
+      filterStages @5 :UInt8;
+      predetectInterval @6 :UInt8;
+      cycleSlipCount @7 :UInt8;
+      postdetections @8 :UInt16;
+
+      measurementStatus @9 :MeasurementStatus;
+
+      carrierNoise @10 :UInt16;
+      rfLoss @11 :UInt16;
+      latency @12 :Int16;
+
+      filteredMeasurementFraction @13 :Float32;
+      filteredMeasurementIntegral @14 :UInt32;
+      filteredTimeUncertainty @15 :Float32;
+      filteredSpeed @16 :Float32;
+      filteredSpeedUncertainty @17 :Float32;
+
+      unfilteredMeasurementFraction @18 :Float32;
+      unfilteredMeasurementIntegral @19 :UInt32;
+      unfilteredTimeUncertainty @20 :Float32;
+      unfilteredSpeed @21 :Float32;
+      unfilteredSpeedUncertainty @22 :Float32;
+
+      multipathEstimate @23 :UInt32;
+      azimuth @24 :Float32;
+      elevation @25 :Float32;
+      dopplerAcceleration @26 :Float32;
+      fineSpeed @27 :Float32;
+      fineSpeedUncertainty @28 :Float32;
+
+      carrierPhase @29 :Float64;
+      fCount @30 :UInt32;
+
+      parityErrorCount @31 :UInt16;
+      goodParity @32 :Bool;
+    }
+  }
+
+  struct DrSvPolyReport {
+    svId @0 :UInt16;
+    frequencyIndex @1 :Int8;
+
+    hasPosition @2 :Bool;
+    hasIono @3 :Bool;
+    hasTropo @4 :Bool;
+    hasElevation @5 :Bool;
+    polyFromXtra @6 :Bool;
+    hasSbasIono @7 :Bool;
+
+    iode @8 :UInt16;
+    t0 @9 :Float64;
+    xyz0 @10 :List(Float64);
+    xyzN @11 :List(Float64);
+    other @12 :List(Float32);
+
+    positionUncertainty @13 :Float32;
+    ionoDelay @14 :Float32;
+    ionoDot @15 :Float32;
+    sbasIonoDelay @16 :Float32;
+    sbasIonoDot @17 :Float32;
+    tropoDelay @18 :Float32;
+    elevation @19 :Float32;
+    elevationDot @20 :Float32;
+    elevationUncertainty @21 :Float32;
+
+    velocityCoeff @22 :List(Float64);
+
+  }
 }

 struct LidarPts {
@@ -896,6 +1174,210 @@ struct ProcLog {

 }

+struct UbloxGnss {
+  union {
+    measurementReport @0 :MeasurementReport;
+    ephemeris @1 :Ephemeris;
+    ionoData @2 :IonoData;
+  }
+
+  struct MeasurementReport {
+    #received time of week in gps time in seconds and gps week
+    rcvTow @0 :Float64;
+    gpsWeek @1 :UInt16;
+    # leap seconds in seconds
+    leapSeconds @2 :UInt16;
+    # receiver status
+    receiverStatus @3 :ReceiverStatus;
+    # num of measurements to follow
+    numMeas @4 :UInt8;
+    measurements @5 :List(Measurement);
+
+    struct ReceiverStatus {
+      # leap seconds have been determined
+      leapSecValid @0 :Bool;
+      # Clock reset applied
+      clkReset @1 :Bool;
+    }
+
+    struct Measurement {
+      svId @0 :UInt8;
+      trackingStatus @1 :TrackingStatus;
+      # pseudorange in meters
+      pseudorange @2 :Float64;
+      # carrier phase measurement in cycles
+      carrierCycles @3 :Float64;
+      # doppler measurement in Hz
+      doppler @4 :Float32;
+      # GNSS id, 0 is gps
+      gnssId @5 :UInt8;
+      glonassFrequencyIndex @6 :UInt8;
+      # carrier phase locktime counter in ms
+      locktime @7 :UInt16;
+      # Carrier-to-noise density ratio (signal strength) in dBHz
+      cno @8 :UInt8;
+      # pseudorange standard deviation in meters
+      pseudorangeStdev @9 :Float32;
+      # carrier phase standard deviation in cycles
+      carrierPhaseStdev @10 :Float32;
+      # doppler standard deviation in Hz
+      dopplerStdev @11 :Float32;
+
+      struct TrackingStatus {
+        # pseudorange valid
+        pseudorangeValid @0 :Bool;
+        # carrier phase valid
+        carrierPhaseValid @1 :Bool;
+        # half cycle valid
+        halfCycleValid @2 :Bool;
+        # half sycle subtracted from phase
+        halfCycleSubtracted @3 :Bool;
+      }
+    }
+  }
+
+  struct Ephemeris {
+    # This is according to the rinex (2?) format
+    svId @0 :UInt16;
+    year @1 :UInt16;
+    month @2 :UInt16;
+    day @3 :UInt16;
+    hour @4 :UInt16;
+    minute @5 :UInt16;
+    second @6 :Float32;
+    af0 @7 :Float64;
+    af1 @8 :Float64;
+    af2 @9 :Float64;
+
+    iode @10 :Float64;
+    crs @11 :Float64;
+    deltaN @12 :Float64;
+    m0 @13 :Float64;
+
+    cuc @14 :Float64;
+    ecc @15 :Float64;
+    cus @16 :Float64;
+    a @17 :Float64; # note that this is not the root!!
+
+    toe @18 :Float64;
+    cic @19 :Float64;
+    omega0 @20 :Float64;
+    cis @21 :Float64;
+
+    i0 @22 :Float64;
+    crc @23 :Float64;
+    omega @24 :Float64;
+    omegaDot @25 :Float64;
+
+    iDot @26 :Float64;
+    codesL2 @27 :Float64;
+    gpsWeek @28 :Float64;
+    l2 @29 :Float64;
+
+    svAcc @30 :Float64;
+    svHealth @31 :Float64;
+    tgd @32 :Float64;
+    iodc @33 :Float64;
+
+    transmissionTime @34 :Float64;
+    fitInterval @35 :Float64;
+
+    toc @36 :Float64;
+  }
+
+  struct IonoData {
+    svHealth @0 :UInt32;
+    tow  @1 :Float64;
+    gpsWeek @2 :Float64;
+
+    ionoAlpha @3 :List(Float64);
+    ionoBeta @4 :List(Float64);
+
+    healthValid @5 :Bool;
+    ionoCoeffsValid @6 :Bool;
+  }
+}
+
+
+struct Clocks {
+  bootTimeNanos @0 :UInt64;
+  monotonicNanos @1 :UInt64;
+  monotonicRawNanos @2 :UInt64;
+  wallTimeNanos @3 :UInt64;
+  modemUptimeMillis @4 :UInt64;
+}
+
+struct LiveMpcData {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  psi @2 :List(Float32);
+  delta @3 :List(Float32);
+  qpIterations @4 :UInt32;
+  calculationTime @5 :UInt64;
+}
+
+struct LiveLongitudinalMpcData {
+  xEgo @0 :List(Float32);
+  vEgo @1 :List(Float32);
+  aEgo @2 :List(Float32);
+  xLead @3 :List(Float32);
+  vLead @4 :List(Float32);
+  aLead @5 :List(Float32);
+  aLeadTau @6 :Float32;    # lead accel time constant
+  qpIterations @7 :UInt32;
+  mpcId @8 :UInt32;
+  calculationTime @9 :UInt64;
+}
+
+
+struct ECEFPoint {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints {
+  curPos @0 :ECEFPoint;
+  points @1 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  instructionProgress @4 :Float32;
+}
+
+struct GPSPlannerPlan {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+  speed @3 :Float32;
+}
+
+struct TrafficSigns {
+  type @0 :Type;
+  distance @1 :Float32;
+  action @2 :Action;
+  resuming @3 :Bool;
+
+  enum Type {
+    light @0;
+  }
+
+  enum Action {
+    none @0;
+    yield @1;
+    stop @2;
+  }
+
+}
+
+struct OrbslamCorrection {
+  correctionMonoTime @0 :UInt64;
+  prePositionECEF @1 :List(Float64);
+  postPositionECEF @2 :List(Float64);
+  prePoseQuatECEF @3 :List(Float32);
+  postPoseQuatECEF @4 :List(Float32);
+  numInliers @5 :UInt32;
+}
+
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
@@ -912,7 +1394,7 @@ struct Event {
    model @9 :ModelData;
    features @10 :CalibrationFeatures;
    sensorEvents @11 :List(SensorEventData);
-    health @12 : HealthData;
+    health @12 :HealthData;
    live20 @13 :Live20Data;
    liveUIDEPRECATED @14 :LiveUI;
    encodeIdx @15 :EncodeIndex;
@@ -934,5 +1416,18 @@ struct Event {
    qcomGnss @31 :QcomGnss;
    lidarPts @32 :LidarPts;
    procLog @33 :ProcLog;
+    ubloxGnss @34 :UbloxGnss;
+    clocks @35 :Clocks;
+    liveMpc @36 :LiveMpcData;
+    liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
+    navStatus @38 :NavStatus;
+    ubloxRaw @39 :Data;
+    gpsPlannerPoints @40 :GPSPlannerPoints;
+    gpsPlannerPlan @41 :GPSPlannerPlan;
+    applanixRaw @42 :Data;
+    trafficSigns @43 :List(TrafficSigns);
+    liveLocationTiming @44 :LiveLocationData;
+    orbslamCorrection @45 :OrbslamCorrection;
+    liveLocationCorrected @46 :LiveLocationData;
  }
 }
--- a/common/api/init.py
+++ b/common/api/init.py
@@ -1,13 +1,15 @@
 import requests

+from selfdrive.version import version
+
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"

-  params['_version'] = "OPENPILOTv0.3"
-
  headers = {}
  if access_token is not None:
    headers['Authorization'] = "JWT "+access_token

+  headers['User-Agent'] = "openpilot-" + version
+
  return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)

--- a/common/basedir.py
+++ b/common/basedir.py
@@ -0,0 +1,4 @@
+import os
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
+
--- a/common/dbc.py
+++ b/common/dbc.py
@@ -1,6 +1,9 @@
 import re
+import os
+import struct
 import bitstring
-from binascii import hexlify
+import sys
+import numbers
 from collections import namedtuple

 def int_or_float(s):
@@ -16,6 +19,7 @@ DBCSignal = namedtuple(

 class dbc(object):
  def __init__(self, fn):
+    self.name, _ = os.path.splitext(os.path.basename(fn))
    with open(fn) as f:
      self.txt = f.read().split("\n")
    self._warned_addresses = set()
@@ -32,10 +36,8 @@ class dbc(object):
    # signals is a list of DBCSignal in order of increasing start_bit.
    self.msgs = {}

-    self.bits = []
-    for i in range(0, 64, 8):
-      for j in range(7, -1, -1):
-        self.bits.append(i+j)
+    # lookup to bit reverse each byte
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]

    for l in self.txt:
      l = l.strip()
@@ -49,6 +51,8 @@ class dbc(object):
        name = dat.group(2)
        size = int(dat.group(3))
        ids = int(dat.group(1), 0) # could be hex
+        if ids in self.msgs:
+          sys.exit("Duplicate address detected %d %s" % (ids, self.name))

        self.msgs[ids] = ((name, size), [])

@@ -80,6 +84,16 @@ class dbc(object):
    for msg in self.msgs.viewvalues():
      msg[1].sort(key=lambda x: x.start_bit)

+    self.msg_name_to_address = {}
+    for address, m in self.msgs.items():
+      name = m[0][0]
+      self.msg_name_to_address[name] = address
+
+  def lookup_msg_id(self, msg_id):
+    if not isinstance(msg_id, numbers.Number):
+      msg_id = self.msg_name_to_address[msg_id]
+    return msg_id
+
  def encode(self, msg_id, dd):
    """Encode a CAN message using the dbc.

@@ -87,6 +101,8 @@ class dbc(object):
        msg_id: The message ID.
        dd: A dictionary mapping signal name to signal data.
    """
+    msg_id = self.lookup_msg_id(msg_id)
+
    # TODO: Stop using bitstring, which is super slow.
    msg_def = self.msgs[msg_id]
    size = msg_def[0][1]
@@ -102,7 +118,7 @@ class dbc(object):
        if s.is_little_endian:
          ss = s.start_bit
        else:
-          ss = self.bits.index(s.start_bit)
+          ss = self.bits_index[s.start_bit]


        if s.is_signed:
@@ -134,10 +150,7 @@ class dbc(object):

        Returns (None, None) if the message could not be decoded.
    """
-    
-    def swap_order(d, wsz=4, gsz=2 ):
-      return "".join(["".join([m[i:i+gsz] for i in range(wsz-gsz,-gsz,-gsz)]) for m in [d[i:i+wsz] for i in range(0,len(d),wsz)]])
-    
+
    if arr is None:
      out = {}
    else:
@@ -146,7 +159,7 @@ class dbc(object):
    msg = self.msgs.get(x[0])
    if msg is None:
      if x[0] not in self._warned_addresses:
-        print("WARNING: Unknown message address {}".format(x[0]))
+        #print("WARNING: Unknown message address {}".format(x[0]))
        self._warned_addresses.add(x[0])
      return None, None

@@ -156,6 +169,9 @@ class dbc(object):

    blen = 8*len(x[2])

+    st = x[2].rjust(8, '\x00')
+    le, be = None, None
+
    for s in msg[1]:
      if arr is not None and s[0] not in arr:
        continue
@@ -163,15 +179,18 @@ class dbc(object):
      # big or little endian?
      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
      if s[3] is False:
-        ss = self.bits.index(s[1])
-        x2_int = int(hexlify(x[2]), 16)
+        ss = self.bits_index[s[1]]
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        x2_int = be
        data_bit_pos = (blen - (ss + s[2]))
      else:
-        x2_int = int(swap_order(hexlify(x[2]), 16, 2), 16)
+        if le is None:
+          le = struct.unpack("<Q", st)[0]
+        x2_int = le
        ss = s[1]
        data_bit_pos = ss

-      
      if data_bit_pos < 0:
        continue
      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
@@ -189,4 +208,13 @@ class dbc(object):
      else:
        out[arr.index(s[0])] = ival
    return name, out
-    
+
+  def get_signals(self, msg):
+    msg = self.lookup_msg_id(msg)
+    return [sgs.name for sgs in self.msgs[msg][1]]
+
+if __name__ == "__main__":
+   from opendbc import DBC_PATH
+
+   dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
+   print dbc_test.get_signals(0xe4)
--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@@ -1,20 +1,80 @@
+class HONDA:
+  CIVIC = "HONDA CIVIC 2016 TOURING"
+  ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
+  CRV = "HONDA CR-V 2016 TOURING"
+  ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
+  ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
+
+
+class TOYOTA:
+  PRIUS = "TOYOTA PRIUS 2017"
+  RAV4H = "TOYOTA RAV4 2017 HYBRID"
+  RAV4 = "TOYOTA RAV4 2017"
+  COROLLA = "TOYOTA COROLLA 2017"
+  LEXUS_RXH = "LEXUS RX HYBRID 2017"
+

 _FINGERPRINTS = {
-  "ACURA ILX 2016 ACURAWATCH PLUS": {
+  HONDA.ACURA_ILX: {
    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
    # sent messages
    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
  },
-  "HONDA CIVIC 2016 TOURING": {
+  HONDA.ACURA_RDX: {
+    57L: 3, 145L: 8, 229L: 4, 308L: 5, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 392L: 6, 398L: 3, 399L: 6, 404L: 4, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 773L: 7, 777L: 8, 780L: 8, 800L: 8, 804L: 8, 808L: 8, 819L: 7, 821L: 5, 829L: 5, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 892L: 8, 923L: 2, 929L: 4, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1034L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1365L: 5, 1424L: 5, 1729L: 1
+  },  
+  HONDA.CIVIC: {
    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
    # sent messages
    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
  },
-  "HONDA ACCORD 2016 TOURING": {
-    1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
+  HONDA.CRV: {
+    57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
+    # sent messages
+    0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
+  },
+  HONDA.ODYSSEY: {
+    57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
+  },
+  TOYOTA.RAV4: {
+    36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
+  },
+  TOYOTA.RAV4H: {
+   36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8, 581L: 5, 296: 8, 560L: 7, 713L: 8, 550L: 8, 608L: 8, 37L: 8, 36L: 8, 950L: 8, 1198L: 8, 1197L: 8, 1199L: 8, 1212L: 8, 953L: 3, 1264L: 8, 1184L: 8, 1005L: 2, 1185L: 8, 1232L: 8, 1186L: 8
+ },
+  TOYOTA.PRIUS: [{
+    36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
+  },
+  # Prius Prime
+  {
+    36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 824L: 2, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2,898L: 8, 900L: 6, 902L: 6, 905L: 8, 913L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 974L: 8, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1076L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1164L: 8, 1165L: 8, 1166L: 8, 1167L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
+  },
+  # Taiwanese Prius Prime
+  {
+    36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 824L: 2, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 845L: 5, 863L: 8, 869L: 7, 870L: 7, 871L: 2,898L: 8, 900L: 6, 902L: 6, 905L: 8, 913L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 974L: 8, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1076L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1164L: 8, 1165L: 8, 1166L: 8, 1167L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1264L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
  }
+  ],
+  TOYOTA.COROLLA: {
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  TOYOTA.LEXUS_RXH: {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
+  },
 }

+# support additional internal only fingerprints
+try:
+  from common.fingerprints_internal import add_additional_fingerprints
+  add_additional_fingerprints(_FINGERPRINTS)
+except ImportError:
+  pass
+
+
+def is_valid_for_fingerprint(msg, car_fingerprint):
+  adr = msg.address
+  return msg.src != 0 or (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat))
+
+
 def eliminate_incompatible_cars(msg, candidate_cars):
  """Removes cars that could not have sent msg.

@@ -27,102 +87,18 @@ def eliminate_incompatible_cars(msg, candidate_cars):
  """
  compatible_cars = []
  for car_name in candidate_cars:
-    adr = msg.address
-    if msg.src != 0 or (adr in _FINGERPRINTS[car_name] and
-                        _FINGERPRINTS[car_name][adr] == len(msg.dat)):
-      compatible_cars.append(car_name)
-    else:
-      pass
-      #isin = adr in _FINGERPRINTS[car_name]
-      #print "eliminate", car_name, hex(adr), isin, len(msg.dat), msg.dat.encode("hex")
+    car_fingerprints = _FINGERPRINTS[car_name]
+    if not isinstance(car_fingerprints, list):
+      car_fingerprints = [car_fingerprints]
+
+    for fingerprint in car_fingerprints:
+      if is_valid_for_fingerprint(msg, fingerprint):
+        compatible_cars.append(car_name)
+        break
+
  return compatible_cars

+
 def all_known_cars():
  """Returns a list of all known car strings."""
  return _FINGERPRINTS.keys()
-
-# **** for use live only ****
-def fingerprint(logcan):
-  import selfdrive.messaging as messaging
-  from cereal import car
-  from common.realtime import sec_since_boot
-  import os
-  if os.getenv("SIMULATOR") is not None or logcan is None:
-    # send message
-    ret = car.CarParams.new_message()
-
-    ret.carName = "simulator"
-    ret.radarName = "nidec"
-    ret.carFingerprint = "THE LOW QUALITY SIMULATOR"
-
-    ret.enableSteer = True
-    ret.enableBrake = True
-    ret.enableGas = True
-    ret.enableCruise = False
-
-    ret.wheelBase = 2.67
-    ret.steerRatio = 15.3
-    ret.slipFactor = 0.0014
-
-    ret.steerKp, ret.steerKi = 12.0, 1.0
-    return ret
-
-  print "waiting for fingerprint..."
-  brake_only = True
-
-  candidate_cars = all_known_cars()
-  finger = {}
-  st = None
-  while 1:
-    for a in messaging.drain_sock(logcan, wait_for_one=True):
-      if st is None:
-        st = sec_since_boot()
-      for can in a.can:
-        # pedal
-        if can.address == 0x201 and can.src == 0:
-          brake_only = False
-        if can.src == 0:
-          finger[can.address] = len(can.dat)
-        candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
-
-    # if we only have one car choice and it's been 100ms since we got our first message, exit
-    if len(candidate_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
-      break
-    elif len(candidate_cars) == 0:
-      print map(hex, finger.keys())
-      raise Exception("car doesn't match any fingerprints")
-
-  print "fingerprinted", candidate_cars[0]
-
-  # send message
-  ret = car.CarParams.new_message()
-
-  ret.carName = "honda"
-  ret.radarName = "nidec"
-  ret.carFingerprint = candidate_cars[0]
-
-  ret.enableSteer = True
-  ret.enableBrake = True
-  ret.enableGas = not brake_only
-  ret.enableCruise = brake_only
-  #ret.enableCruise = False
-
-  ret.wheelBase = 2.67
-  ret.steerRatio = 15.3
-  ret.slipFactor = 0.0014
-
-  if candidate_cars[0] == "HONDA CIVIC 2016 TOURING":
-    ret.steerKp, ret.steerKi = 12.0, 1.0
-  elif candidate_cars[0] == "ACURA ILX 2016 ACURAWATCH PLUS":
-    if not brake_only:
-      # assuming if we have an interceptor we also have a torque mod
-      ret.steerKp, ret.steerKi = 6.0, 0.5
-    else:
-      ret.steerKp, ret.steerKi = 12.0, 1.0
-  elif candidate_cars[0] == "HONDA ACCORD 2016 TOURING":
-    ret.steerKp, ret.steerKi = 12.0, 1.0
-  else:
-    raise ValueError("unsupported car %s" % candidate_cars[0])
-
-  return ret
-
--- a/common/kalman/ekf.py
+++ b/common/kalman/ekf.py
@@ -1,7 +1,5 @@
 import abc
 import numpy as np
-import numpy.matlib
-
 # The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
 # A subclass must implement:
 #   1) calc_transfer_fun(); see bottom of file for more info.
@@ -20,6 +18,7 @@ import numpy.matlib
 # update() should be called once per sensor, and can be called multiple times between predict steps.
 # Access and set the state of the filter directly with ekf.state and ekf.covar.

+
 class SensorReading:
  # Given a perfect model and no noise, data = obs_model * state
  def __init__(self, data, covar, obs_model):
@@ -34,8 +33,8 @@ class SensorReading:

 # A generic sensor class that does no pre-processing of data
 class SimpleSensor:
-  # obs_model can be 
-  #   a full obesrvation model matrix, or
+  # obs_model can be
+  #   a full observation model matrix, or
  #   an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
  # covar can be
  #   a full covariance matrix
@@ -68,55 +67,6 @@ class SimpleSensor:
      self.covar = covar
    return SensorReading(data, self.covar, self.obs_model)

-class GPS:
-  earth_r = 6371e3  # m, average earth radius
-
-  def __init__(self, xy_idx=(0, 1), dims=2, var=1e4):
-    self.obs_model = np.matlib.zeros((2, dims))
-    self.obs_model[:, tuple(xy_idx)] = np.matlib.identity(2)
-    self.covar = np.matlib.identity(2) * var
-
-  # [lat, lon] in decimal degrees
-  def init_pos(self, latlon):
-    self.init_lat, self.init_lon = np.radians(np.asarray(latlon[:2]))
-
-  # Compute straight-line distance, in meters, between two lat/long coordinates
-  # Input in radians
-  def haversine(self, lat1, lon1, lat2, lon2):
-    lat_diff = lat2 - lat1
-    lon_diff = lon2 - lon1
-    d = np.sin(lat_diff * 0.5)**2 + np.cos(lat1) * np.cos(lat2) * np.sin(
-      lon_diff * 0.5)**2
-    h = 2 * GPS.earth_r * np.arcsin(np.sqrt(d))
-    return h
-
-  # Convert decimal degrees into meters
-  def convert_deg2m(self, lat, lon):
-    lat, lon = np.radians([lat, lon])
-
-    xs = (lon - self.init_lon) * np.cos(self.init_lat) * GPS.earth_r
-    ys = (lat - self.init_lat) * GPS.earth_r
-
-    return xs, ys
-
-  # Convert meters into decimal degrees
-  def convert_m2deg(self, xs, ys):
-    lat = ys / GPS.earth_r + self.init_lat
-    lon = xs / (GPS.earth_r * np.cos(self.init_lat)) + self.init_lon
-
-    return np.degrees(lat), np.degrees(lon)
-
-  # latlon is [lat, long,] as decimal degrees
-  # accuracy is as given by Android location service: radius of 68% confidence
-  def read(self, latlon, accuracy=None):
-    x_dist, y_dist = self.convert_deg2m(latlon[0], latlon[1])
-    if not accuracy:
-      covar = self.covar
-    else:
-      covar = np.matlib.identity(2) * accuracy**2
-
-    return SensorReading(
-      np.asmatrix([x_dist, y_dist]).T, covar, self.obs_model)

 class EKF:
  __metaclass__ = abc.ABCMeta
@@ -178,14 +128,14 @@ class EKF:
      print "covar:\n",self.covar

  def update_scalar(self, reading):
-    # like update but knowing that measurment is a scalar
+    # like update but knowing that measurement is a scalar
    # this avoids matrix inversions and speeds up (surprisingly) drived.py a lot

-    # innovation = reading.data - np.matmul(reading.obs_model, self.state)   
-    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar    
-    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar   
-    # self.state += np.matmul(kalman_gain, innovation)   
-    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)    
+    # innovation = reading.data - np.matmul(reading.obs_model, self.state)
+    # innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
+    # kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
+    # self.state += np.matmul(kalman_gain, innovation)
+    # aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
    # self.covar =  np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))

    # written without np.matmul
@@ -237,9 +187,10 @@ class EKF:

    Current implementations calculate A and J as functions of state. Control input
      can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
-      and using it during calcualtion of A and J
+      and using it during calculation of A and J
    """

+
 class FastEKF1D(EKF):
  """Fast version of EKF for 1D problems with scalar readings."""

--- a/common/kalman/simple_kalman.py
+++ b/common/kalman/simple_kalman.py
@@ -0,0 +1,23 @@
+import numpy as np
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x = x0
+    self.A = A
+    self.C = C
+    self.K = K
+
+    self.A_K = self.A - np.dot(self.K, self.C)
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    return self.x
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -8,6 +8,18 @@ from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager

+def json_handler(obj):
+  # if isinstance(obj, (datetime.date, datetime.time)):
+  #   return obj.isoformat()
+  return repr(obj)
+
+def json_robust_dumps(obj):
+  return json.dumps(obj, default=json_handler)
+
+class NiceOrderedDict(OrderedDict):
+  def __str__(self):
+    return '{'+', '.join("%r: %r" % p for p in self.iteritems())+'}'
+
 class SwagFormatter(logging.Formatter):
  def __init__(self, swaglogger):
    logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
@@ -15,13 +27,8 @@ class SwagFormatter(logging.Formatter):
    self.swaglogger = swaglogger
    self.host = socket.gethostname()

-  def json_handler(self, obj):
-    # if isinstance(obj, (datetime.date, datetime.time)):
-    #   return obj.isoformat()
-    return repr(obj)
-
-  def format(self, record):
-    record_dict = OrderedDict()
+  def format_dict(self, record):
+    record_dict = NiceOrderedDict()

    if isinstance(record.msg, dict):
      record_dict['msg'] = record.msg
@@ -50,9 +57,10 @@ class SwagFormatter(logging.Formatter):
    record_dict['threadName'] = record.threadName
    record_dict['created'] = record.created

-    # asctime = self.formatTime(record, self.datefmt)
+    return record_dict

-    return json.dumps(record_dict, default=self.json_handler)
+  def format(self, record):
+    return json_robust_dumps(self.format_dict(record))

 _tmpfunc = lambda: 0
 _srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
@@ -115,7 +123,7 @@ class SwagLogger(logging.Logger):
    self.global_ctx.update(kwargs)

  def event(self, event_name, *args, **kwargs):
-    evt = OrderedDict()
+    evt = NiceOrderedDict()
    evt['event'] = event_name
    if args:
      evt['args'] = args
--- a/common/numpy_fast.py
+++ b/common/numpy_fast.py
@@ -1,3 +1,7 @@
+def int_rnd(x):
+  return int(round(x))
+
+
 def clip(x, lo, hi):
  return max(lo, min(hi, x))

--- a/common/params.py
+++ b/common/params.py
@@ -52,15 +52,34 @@ keys = {
  "Version": TxType.PERSISTANT,
  "GitCommit": TxType.PERSISTANT,
  "GitBranch": TxType.PERSISTANT,
+  "GitRemote": TxType.PERSISTANT,
+# written: baseui
+# read:    ui, controls
+  "IsMetric": TxType.PERSISTANT,
+  "IsRearViewMirror": TxType.PERSISTANT,
+  "IsFcwEnabled": TxType.PERSISTANT,
+  "HasAcceptedTerms": TxType.PERSISTANT,
+  "IsUploadVideoOverCellularEnabled": TxType.PERSISTANT,
 # written: visiond
-# read:    visiond
+# read:    visiond, controlsd
  "CalibrationParams": TxType.PERSISTANT,
 # written: visiond
 # read:    visiond, ui
  "CloudCalibration": TxType.PERSISTANT,
 # written: controlsd
 # read:    radard
-  "CarParams": TxType.CLEAR_ON_CAR_START}
+  "CarParams": TxType.CLEAR_ON_CAR_START,
+
+  "Passive": TxType.PERSISTANT,
+  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
+}
+
+def fsync_dir(path):
+  fd = os.open(path, os.O_RDONLY)
+  try:
+    os.fsync(fd)
+  finally:
+    os.close(fd)


 class FileLock(object):
@@ -178,20 +197,37 @@ class DBWriter(DBAccessor):
    self._check_entered()

    try:
+      # data_path refers to the externally used path to the params. It is a symlink.
+      # old_data_path is the path currently pointed to by data_path.
+      # tempdir_path is a path where the new params will go, which the new data path will point to.
+      # new_data_path is a temporary symlink that will atomically overwrite data_path.
+      #
+      # The current situation is:
+      #   data_path -> old_data_path
+      # We're going to write params data to tempdir_path
+      #   tempdir_path -> params data
+      # Then point new_data_path to tempdir_path
+      #   new_data_path -> tempdir_path
+      # Then atomically overwrite data_path with new_data_path
+      #   data_path -> tempdir_path
      old_data_path = None
      new_data_path = None
      tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
+
      try:
        # Write back all keys.
        os.chmod(tempdir_path, 0o777)
        for k, v in self._vals.items():
          with open(os.path.join(tempdir_path, k), "wb") as f:
            f.write(v)
+            f.flush()
+            os.fsync(f.fileno())
+        fsync_dir(tempdir_path)

        data_path = self._data_path()
        try:
          old_data_path = os.path.join(self._path, os.readlink(data_path))
-        except (OSError, IOError) as e:
+        except (OSError, IOError):
          # NOTE(mgraczyk): If other DB implementations have bugs, this could cause
          #                 copies to be left behind, but we still want to overwrite.
          pass
@@ -199,16 +235,21 @@ class DBWriter(DBAccessor):
        new_data_path = "{}.link".format(tempdir_path)
        os.symlink(os.path.basename(tempdir_path), new_data_path)
        os.rename(new_data_path, data_path)
-      # TODO(mgraczyk): raise useful error when values are bad.
-      except:
-        shutil.rmtree(tempdir_path)
-        if new_data_path is not None:
-          os.remove(new_data_path)
-        raise
+        fsync_dir(self._path)
+      finally:
+        # If the rename worked, we can delete the old data. Otherwise delete the new one.
+        success = new_data_path is not None and os.path.exists(data_path) and (
+          os.readlink(data_path) == os.path.basename(tempdir_path))

-      # Keep holding the lock while we clean up the old data.
-      if old_data_path is not None:
-        shutil.rmtree(old_data_path)
+        if success:
+          if old_data_path is not None:
+            shutil.rmtree(old_data_path)
+        else:
+          shutil.rmtree(tempdir_path)
+
+        # Regardless of what happened above, there should be no link at new_data_path.
+        if new_data_path is not None and os.path.islink(new_data_path):
+          os.remove(new_data_path)
    finally:
      os.umask(self._prev_umask)
      self._prev_umask = None
@@ -245,6 +286,10 @@ class Params(object):
  def car_start(self):
    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)

+  def delete(self, key):
+    with self.env.begin(write=True) as txn:
+      txn.delete(key)
+
  def get(self, key, block=False):
    if key not in keys:
      raise UnknownKeyName(key)
--- a/common/profiler.py
+++ b/common/profiler.py
@@ -1,26 +1,47 @@
-from common.realtime import sec_since_boot
+import time

 class Profiler(object):
  def __init__(self, enabled=False):
    self.enabled = enabled
-    self.cp = []
-    self.start_time = sec_since_boot()
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.clock()
+    self.last_time = self.start_time
+    self.tot = 0.
+
+  def reset(self, enabled=False):
+    self.enabled = enabled
+    self.cp = {}
+    self.cp_ignored = []
+    self.iter = 0
+    self.start_time = time.clock()
    self.last_time = self.start_time

-  def checkpoint(self, name):
+  def checkpoint(self, name, ignore=False):
+    # ignore flag needed when benchmarking threads with ratekeeper
    if not self.enabled:
      return
-    tt = sec_since_boot()
-    self.cp.append((name, tt - self.last_time))
+    tt = time.clock()
+    if name not in self.cp:
+      self.cp[name] = 0.
+      if ignore:
+        self.cp_ignored.append(name)
+    self.cp[name] += tt - self.last_time
+    if not ignore:
+      self.tot += tt - self.last_time
    self.last_time = tt

  def display(self):
    if not self.enabled:
      return
+    self.iter += 1
    print "******* Profiling *******"
-    tot = 0.0
-    for n, ms in self.cp:
-      print "%30s: %7.2f" % (n, ms*1000.0)
-      tot += ms
-    print "    TOTAL: %7.2f" % (tot*1000.0)
+    for n in self.cp:
+      ms = self.cp[n]
+      if n in self.cp_ignored:
+        print "%30s: %7.2f   perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100), "  IGNORED"
+      else:
+        print "%30s: %7.2f   perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100)
+    print "Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot)

--- a/common/realtime.py
+++ b/common/realtime.py
@@ -1,43 +1,52 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
+import os
 import time
-import ctypes
 import platform
+import threading
 import subprocess
 import multiprocessing
-import os

-from ctypes.util import find_library
+from cffi import FFI
+ffi = FFI()
+ffi.cdef("""
+
+typedef int clockid_t;
+struct timespec {
+    long tv_sec;   /* Seconds.  */
+    long tv_nsec;  /* Nanoseconds.  */
+};
+int clock_gettime (clockid_t clk_id, struct timespec *tp);
+
+long syscall(long number, ...);
+
+"""
+)
+libc = ffi.dlopen(None)


-CLOCK_MONOTONIC_RAW = 4 # see <linux/time.h>
+# see <linux/time.h>
+CLOCK_MONOTONIC_RAW = 4
 CLOCK_BOOTTIME = 7

-class timespec(ctypes.Structure):
-  _fields_ = [
-    ('tv_sec', ctypes.c_long),
-    ('tv_nsec', ctypes.c_long),
-  ]
+if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
+  c_clock_gettime = libc.clock_gettime

-libc_name = find_library('c')
-libc = ctypes.CDLL(libc_name, use_errno=True)
+  tlocal = threading.local()
+  def clock_gettime(clk_id):
+    if not hasattr(tlocal, 'ts'):
+      tlocal.ts = ffi.new('struct timespec *')

-if hasattr(libc, 'clock_gettime'):
-  libc.clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
-  has_clock_gettime = True
+    ts = tlocal.ts
+
+    r = c_clock_gettime(clk_id, ts)
+    if r != 0:
+      raise OSError("clock_gettime")
+    return ts.tv_sec + ts.tv_nsec * 1e-9
 else:
-  has_clock_gettime = False
-
-def clock_gettime(clk_id):
-  if not has_clock_gettime:
-    # hack. only for OS X < 10.12
+  # hack. only for OS X < 10.12
+  def clock_gettime(clk_id):
    return time.time()

-  t = timespec()
-  if libc.clock_gettime(clk_id, ctypes.pointer(t)) != 0:
-    errno_ = ctypes.get_errno()
-    raise OSError(errno_, os.strerror(errno_))
-  return t.tv_sec + t.tv_nsec * 1e-9
-
 def monotonic_time():
  return clock_gettime(CLOCK_MONOTONIC_RAW)

@@ -96,3 +105,6 @@ class Ratekeeper(object):
    self._frame += 1
    self._remaining = remaining
    return lagged
+
+if __name__ == "__main__":
+  print sec_since_boot()
--- a/common/testing.py
+++ b/common/testing.py
@@ -0,0 +1,9 @@
+import os
+from nose.tools import nottest
+
+def phone_only(x):
+  if os.path.isfile("/init.qcom.rc"):
+    return x
+  else:
+    return nottest(x)
+
--- a/dbcs/acura_ilx_2016_can.dbc
+++ b/dbcs/acura_ilx_2016_can.dbc
@@ -1,324 +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_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX
-
-
-BO_ 57 XXX_1: 3 XXX
-
-BO_ 145 XXX_2: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] ""  EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] ""  EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] ""  EPS
- SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] ""  EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  EPS
-
-BO_ 304 GAS_PEDAL2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 316 GAS_PEDAL: 8 PCM
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s"  NEO
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 380 POWERTRAIN_DATA2: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 398 XXX_3: 3 XXX
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 419 GEARBOX: 8 PCM
- SG_ GEAR : 7|8@0+ (1,0) [0|256] ""  NEO
- SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] ""  NEO
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 428 XXX_4: 8 XXX
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 476 XXX_5: 4 XXX
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] ""  EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH4 : 31|8@0+ (1,0) [0|1] ""  EBCM
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH5 : 38|7@0+ (1,0) [0|1] ""  EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
- SG_ CRUISE_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
- SG_ FCW : 43|2@0+ (1,0) [0|3] ""  EBCM
- SG_ CRUISE_BOH7 : 41|10@0+ (1,0) [0|0] ""  EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
-
-BO_ 512 GAS_COMMAND: 3 NEO
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] ""  INTERCEPTOR
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] ""  NEO
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] ""  NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 542 XXX_6: 7 XXX
-
-BO_ 545 XXX_7: 4 XXX
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
- SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 660 SCM_COMMANDS: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] ""  NEO
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 777 XXX_8: 8 XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
- SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
- SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] ""  BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] ""  BDY
- SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] ""  BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] ""  BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] ""  BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] ""  BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] ""  BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] ""  BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] ""  BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] ""  BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 800 XXX_9: 8 XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
- SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
- SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 808 XXX_10: 8 XXX
-
-BO_ 819 XXX_11: 7 XXX
-
-BO_ 821 XXX_12: 5 XXX
-
-BO_ 829 LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] ""  BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] ""  BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] ""  BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] ""  BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] ""  BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] ""  BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] ""  BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] ""  BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 882 XXX_13: 2 XXX
-
-BO_ 884 XXX_14: 7 XXX
-
-BO_ 887 XXX_15: 8 XXX
-
-BO_ 888 XXX_16: 8 XXX
-
-BO_ 892 XXX_17: 8 XXX
-
-BO_ 923 XXX_18: 2 XXX
-
-BO_ 929 XXX_19: 4 XXX
-
-BO_ 983 XXX_20: 8 XXX
-
-BO_ 985 XXX_21: 3 XXX
-
-BO_ 1024 XXX_22: 5 XXX
-
-BO_ 1027 XXX_23: 5 XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 1030 XXX_24: 5 VSA
-
-BO_ 1034 XXX_25: 5 XXX
-
-BO_ 1036 XXX_26: 8 XXX
-
-BO_ 1039 XXX_27: 8 XXX
-
-BO_ 1057 XXX_28: 5 EPS
-
-BO_ 1064 XXX_29: 7 XXX
-
-BO_ 1108 XXX_30: 8 XXX
-
-BO_ 1365 XXX_31: 5 XXX
-
-BO_ 1600 XXX_32: 5 XXX
-
-BO_ 1601 XXX_33: 8 XXX
-
-BO_TX_BU_ 228 : NEO,ADAS;
-BO_TX_BU_ 506 : NEO,ADAS;
-BO_TX_BU_ 780 : NEO,ADAS;
-BO_TX_BU_ 829 : NEO,ADAS;
-
-
-CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
-VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
-VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
--- a/dbcs/honda_accord_touring_2016_can.dbc
+++ b/dbcs/honda_accord_touring_2016_can.dbc
@@ -1,305 +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_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
-
-
-BO_ 57 XXX_1: 3 XXX
-
-BO_ 342 STEERING_SENSORS: 6 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
- SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s"  NEO
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 380 POWERTRAIN_DATA2: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  NEO
- SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] ""  NEO
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 422 SCM_BUTTONS: 8 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
- SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] ""  NEO
- SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] ""  NEO
- SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 427 XXX_3: 3 VSA
-
-BO_ 428 XXX_4: 8 XXX
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 450 XXX_5: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 470 XXX_6: 2 VSA
-
-BO_ 476 XXX_7: 7 XXX
-
-BO_ 487 XXX_8: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] ""  NEO
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] ""  NEO
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
-
-BO_ 493 XXX_9: 5 VSA
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] ""  EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] ""  EBCM
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] ""  EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
- SG_ FCW : 43|1@0+ (1,0) [0|3] ""  EBCM
- SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] ""  EBCM
- SG_ FCW2 : 40|1@0+ (1,0) [0|0] ""  EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] ""  EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
-
-BO_ 512 GAS_COMMAND: 3 NEO
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 545 XXX_10: 6 XXX
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
- SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 660 SCM_COMMANDS: 8 SCM
- SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] ""  NEO
- SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] ""  NEO
- SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] ""  NEO
-
-BO_ 662 CRUISE_BUTTONS: 4 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
- SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] ""  NEO
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 777 XXX_11: 8 XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s"  BDY
- SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
- SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] ""  BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] ""  BDY
- SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] ""  BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] ""  BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] ""  BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] ""  BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] ""  BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] ""  BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] ""  BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 795 XXX_12: 8 XXX
-
-BO_ 800 XXX_13: 8 XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
- SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
- SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 808 XXX_14: 8 XXX
-
-BO_ 829 LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] ""  BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] ""  BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] ""  BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] ""  BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] ""  BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] ""  BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] ""  BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] ""  BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 862 XXX_15: 8 ADAS
- SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] ""  BDY
-
-BO_ 884 XXX_16: 8 XXX
-
-BO_ 891 XXX_17: 8 XXX
-
-BO_ 892 XXX_18: 8 XXX
-
-BO_ 927 XXX_19: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] ""  BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] ""  BDY
- SG_ ZEROS_BOH2 : 22|1@0+ (1,0) [0|1] ""  BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] ""  BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] ""  BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] ""  BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] ""  BDY
-
-BO_ 929 XXX_20: 8 XXX
-
-BO_ 985 XXX_21: 3 XXX
-
-BO_ 1024 XXX_22: 5 XXX
-
-BO_ 1027 XXX_23: 5 XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 1036 XXX_24: 8 XXX
-
-BO_ 1039 XXX_25: 8 XXX
-
-BO_ 1108 XXX_26: 8 XXX
-
-BO_ 1302 XXX_27: 8 XXX
-
-BO_ 1322 XXX_28: 5 XXX
-
-BO_ 1361 XXX_29: 5 XXX
-
-BO_ 1365 XXX_30: 5 XXX
-
-BO_ 1424 XXX_31: 5 XXX
-
-BO_ 1600 XXX_32: 5 XXX
-
-BO_ 1601 XXX_33: 8 XXX
-
-BO_ 1633 XXX_34: 8 XXX
-
-BO_TX_BU_ 228 : NEO,ADAS;
-BO_TX_BU_ 506 : NEO,ADAS;
-BO_TX_BU_ 780 : NEO,ADAS;
-BO_TX_BU_ 829 : NEO,ADAS;
-BO_TX_BU_ 862 : NEO,ADAS;
-BO_TX_BU_ 927 : NEO,ADAS;
-
--- a/dbcs/honda_civic_touring_2016_can.dbc
+++ b/dbcs/honda_civic_touring_2016_can.dbc
@@ -1,343 +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_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
-
-
-BO_ 57 XXX_1: 3 XXX
-
-BO_ 148 XXX_2: 8 XXX
- SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2"  NEO
- SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2"  NEO
-
-BO_ 228 STEERING_CONTROL: 5 ADAS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] ""  EPS
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] ""  EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] ""  EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] ""  EPS
- SG_ CHECKSUM : 39|4@0+ (1,0) [0|15] ""  EPS
- SG_ COUNTER : 33|2@0+ (1,0) [0|3] ""  EPS
-
-BO_ 304 GAS_PEDAL2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm"  NEO
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm"  NEO
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg"  NEO
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s"  NEO
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg"  NEO
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg"  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 344 POWERTRAIN_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 380 POWERTRAIN_DATA2: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm"  NEO
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] ""  NEO
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BRAKE_LIGHTS_ON : 32|1@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm"  NEO
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] ""  NEO
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm"  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd"  NEO
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  NEO
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] ""  NEO
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  NEO
- SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] ""  NEO
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 427 XXX_3: 3 VSA
-
-BO_ 428 XXX_4: 8 XXX
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] ""  NEO
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 450 XXX_5: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] ""  NEO
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] ""  NEO
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s"  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 470 XXX_6: 2 VSA
-
-BO_ 476 XXX_7: 7 XXX
-
-BO_ 487 XXX_8: 4 VSA
- SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] ""  NEO
- SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] ""  NEO
-
-BO_ 490 VEHICLE_DYNAMICS: 8 VSA
- SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2"  NEO
-
-BO_ 493 XXX_9: 5 VSA
-
-BO_ 506 BRAKE_COMMAND: 8 ADAS
- SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] ""  EBCM
- SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] ""  EBCM
- SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] ""  EBCM
- SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] ""  EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] ""  EBCM
- SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] ""  EBCM
- SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] ""  EBCM
- SG_ CHIME : 47|3@0+ (1,0) [0|7] ""  EBCM
- SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] ""  EBCM
- SG_ FCW : 43|1@0+ (1,0) [0|3] ""  EBCM
- SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] ""  EBCM
- SG_ FCW2 : 40|1@0+ (1,0) [0|0] ""  EBCM
- SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] ""  EBCM
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EBCM
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  EBCM
-
-BO_ 512 GAS_COMMAND: 3 NEO
- SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-328) [0|1] ""  INTERCEPTOR
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] ""  INTERCEPTOR
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] ""  INTERCEPTOR
-
-BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-328) [0|1] ""  NEO
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-656) [0|1] ""  NEO
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 545 XXX_10: 6 XXX
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph"  NEO
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] ""  NEO
- SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] ""  NEO
-
-BO_ 662 CRUISE_BUTTONS: 4 SCM
- SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] ""  NEO
- SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] ""  NEO
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] ""  NEO
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 777 XXX_11: 8 XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s"  BDY
- SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] ""  BDY
- SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] ""  BDY
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] ""  BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] ""  BDY
- SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] ""  BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] ""  BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] ""  BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] ""  BDY
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] ""  BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] ""  BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] ""  BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] ""  BDY
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 795 XXX_12: 8 XXX
-
-BO_ 800 XXX_13: 8 XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] ""  NEO
- SG_ BOH : 15|8@0+ (1,0) [0|255] ""  NEO
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] ""  NEO
- SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] ""  NEO
- SG_ BOH2 : 47|8@0- (1,0) [0|255] ""  NEO
- SG_ BOH3 : 55|8@0+ (1,0) [0|255] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] ""  NEO
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] ""  NEO
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] ""  NEO
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] ""  NEO
-
-BO_ 808 XXX_14: 8 XXX
-
-BO_ 829 LKAS_HUD_2: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] ""  BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] ""  BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] ""  BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] ""  BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] ""  BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] ""  BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] ""  BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] ""  BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] ""  BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] ""  BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] ""  BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] ""  BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] ""  BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] ""  BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] ""  BDY
-
-BO_ 862 XXX_15: 8 ADAS
- SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] ""  BDY
-
-BO_ 884 XXX_16: 8 XXX
-
-BO_ 891 XXX_17: 8 XXX
-
-BO_ 892 XXX_18: 8 XXX
-
-BO_ 927 XXX_19: 8 ADAS
- SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] ""  BDY
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] ""  BDY
- SG_ ZEROS_BOH2 : 22|1@0+ (1,0) [0|1] ""  BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] ""  BDY
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] ""  BDY
- SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] ""  BDY
- SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] ""  BDY
- SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] ""  BDY
-
-BO_ 929 XXX_20: 8 XXX
-
-BO_ 985 XXX_21: 3 XXX
-
-BO_ 1024 XXX_22: 5 XXX
-
-BO_ 1027 XXX_23: 5 XXX
-
-BO_ 1029 DOORS_STATUS: 8 BDY
- SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] ""  NEO
- SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] ""  NEO
- SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] ""  NEO
- SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] ""  NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] ""  NEO
-
-BO_ 1036 XXX_24: 8 XXX
-
-BO_ 1039 XXX_25: 8 XXX
-
-BO_ 1108 XXX_26: 8 XXX
-
-BO_ 1302 XXX_27: 8 XXX
-
-BO_ 1322 XXX_28: 5 XXX
-
-BO_ 1361 XXX_29: 5 XXX
-
-BO_ 1365 XXX_30: 5 XXX
-
-BO_ 1424 XXX_31: 5 XXX
-
-BO_ 1600 XXX_32: 5 XXX
-
-BO_ 1601 XXX_33: 8 XXX
-
-BO_ 1633 XXX_34: 8 XXX
-
-BO_TX_BU_ 228 : NEO,ADAS;
-BO_TX_BU_ 506 : NEO,ADAS;
-BO_TX_BU_ 780 : NEO,ADAS;
-BO_TX_BU_ 829 : NEO,ADAS;
-BO_TX_BU_ 862 : NEO,ADAS;
-BO_TX_BU_ 927 : NEO,ADAS;
-
-
-CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
-CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
-CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
-CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
-CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
-VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
-VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
-
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -0,0 +1,39 @@
+#!/usr/bin/bash
+
+function launch {
+  # apply update
+  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+     git reset --hard @{u} &&
+     git clean -xdf &&
+     exec "${BASH_SOURCE[0]}"
+  fi
+
+  # no cpu rationing for now
+  echo 0-3 > /dev/cpuset/background/cpus
+  echo 0-3 > /dev/cpuset/system-background/cpus
+  echo 0-3 > /dev/cpuset/foreground/boost/cpus
+  echo 0-3 > /dev/cpuset/foreground/cpus
+  echo 0-3 > /dev/cpuset/android/cpus
+
+  # wait for network
+  (cd selfdrive/ui/spinner && exec ./spinner 'waiting for network...') & spin_pid=$!
+  until ping -W 1 -c 1 8.8.8.8; do sleep 1; done
+  kill $spin_pid
+
+  # check if NEOS update is required
+  while [ "$(cat /VERSION)" -lt 4 ] && [ ! -e /data/media/0/noupdate ]; do
+    curl -o /tmp/updater https://neos.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater
+    sleep 10
+  done
+
+  export PYTHONPATH="$PWD"
+
+  # start manager
+  cd selfdrive
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch
--- a/opendbc/.gitignore
+++ b/opendbc/.gitignore
@@ -0,0 +1,2 @@
+*.pyc
+.*.swp
--- a/opendbc/README.md
+++ b/opendbc/README.md
@@ -0,0 +1,53 @@
+opendbc
+======
+
+The project to democratize access to the decoder ring of your car.
+
+
+
+### DBC file basics
+
+A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file.
+Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) a good overview.
+
+### How to start reverse engineering cars
+
+[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.
+
+### DBC file preprocessor
+
+DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated.
+
+### Good practices for contributing to opendbc
+
+- Comments: the best way to store comments is to add them directly to the DBC files. For example:
+    ```
+    CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+    ```
+    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
+
+- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better.
+For example:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM
+    ```
+    is better than:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM
+    ```
+    However, the cleanest option is really:
+    ```
+    SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
+    ```
+
+- Signal's size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
+    ```
+    SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
+    ```
+    However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is:
+    ```
+    SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM
+    ```
+    which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else.
--- a/opendbc/init.py
+++ b/opendbc/init.py
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -0,0 +1,293 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "acura_ilx_2016_can.dbc starts here"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/acura_ilx_2016_nidec.dbc
+++ b/opendbc/acura_ilx_2016_nidec.dbc
@@ -44,7 +44,8 @@ BO_ 769 VEHICLE_STATE2: 8 ADAS
 SG_ SET_ME_0F18510 : 7|28@0+ (1,0) [0|268435455] "" Vector__XXX
 SG_ SET_ME_25A0000 : 27|28@0+ (1,0) [0|268435455] "" Vector__XXX

-BO_ 1024 XXX_100: 8 RADAR
+BO_ 1024 RADAR_DIAGNOSTIC: 8 RADAR
+ SG_ RADAR_STATE : 7|8@0+ (1,0) [0|255] "" NEO

 BO_ 1040 XXX_101: 8 RADAR

@@ -180,4 +181,5 @@ BO_TX_BU_ 768 : NEO,ADAS;
 BO_TX_BU_ 769 : NEO,ADAS;


-
+CM_ SG_ 1024 RADAR_STATE "need to find out more diagnostic values";
+VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted";
--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -0,0 +1,280 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "acura_rdx_2018_can.dbc starts here"
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 392 GEARBOX: 6 XXX
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX
+ SG_ GEAR_SHIFTER : 27|4@0+ (1,0) [0|15] "" EON
+ SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
+VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
+VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/ford_cgea1_2_bodycan_2011.dbc
+++ b/opendbc/ford_cgea1_2_bodycan_2011.dbc
--- a/opendbc/ford_cgea1_2_ptcan_2011.dbc
+++ b/opendbc/ford_cgea1_2_ptcan_2011.dbc
--- a/opendbc/generator/generator.py
+++ b/opendbc/generator/generator.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python2
+import os
+import re
+
+cur_path = os.path.dirname(os.path.realpath(__file__))
+generator_path = os.path.join(cur_path, '../')
+
+for dir_name, _, _ in os.walk(cur_path):
+    if dir_name == cur_path:
+        continue
+
+    print dir_name
+
+    for filename in os.listdir(dir_name):
+        if filename.startswith('_'):
+            continue
+
+        print filename
+        dbc_file = open(os.path.join(dir_name, filename)).read()
+        include = re.search(r'CM_ "IMPORT (.*?)"', dbc_file)
+        if include is not None:
+            dbc_file = dbc_file.replace(include.group(0), '\nCM_ "%s starts here"' % filename)
+            include_path = os.path.join(dir_name, include.group(1))
+
+            # Load included file
+            include_file = open(include_path).read()
+            include_file = 'CM_ "Imported file %s starts here"\n' % include.group(1) + include_file
+            dbc_file = include_file + dbc_file
+
+        dbc_file = 'CM_ "AUTOGENERATED FILE, DO NOT EDIT"\n' + dbc_file
+
+        output_filename = filename.replace('.dbc', '_generated.dbc')
+        output_dbc_file = open(os.path.join(generator_path, output_filename), 'w')
+        output_dbc_file.write(dbc_file)
+        output_dbc_file.close()
--- a/opendbc/generator/honda/_honda_2017.dbc
+++ b/opendbc/generator/honda/_honda_2017.dbc
@@ -0,0 +1,214 @@
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
--- a/opendbc/generator/honda/acura_ilx_2016_can.dbc
+++ b/opendbc/generator/honda/acura_ilx_2016_can.dbc
@@ -0,0 +1,76 @@
+CM_ "IMPORT _honda_2017.dbc"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/acura_rdx_2018_can.dbc
+++ b/opendbc/generator/honda/acura_rdx_2018_can.dbc
@@ -0,0 +1,63 @@
+CM_ "IMPORT _honda_2017.dbc"
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 392 GEARBOX: 6 XXX
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX
+ SG_ GEAR_SHIFTER : 27|4@0+ (1,0) [0|15] "" EON
+ SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
+VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
+VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
+++ b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
@@ -0,0 +1,142 @@
+CM_ "IMPORT _honda_2017.dbc"
+
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 545 ECON_STATUS: 6 XXX
+ SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+
+BO_ 662 SCM_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 927 RADAR_HUD: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
+CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc
+++ b/opendbc/generator/honda/honda_crv_touring_2016_can.dbc
@@ -0,0 +1,74 @@
+CM_ "IMPORT _honda_2017.dbc"
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd"  EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] ""  EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  EON
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] ""  EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
+ SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_odyssey_exl_2018.dbc
+++ b/opendbc/generator/honda/honda_odyssey_exl_2018.dbc
@@ -0,0 +1,115 @@
+CM_ "IMPORT _honda_2017.dbc"
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 450 EPB_STATUS: 8 XXX
+ SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 662 SCM_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 RADAR_HUD: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
+++ b/opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
@@ -0,0 +1,66 @@
+CM_ "IMPORT _honda_2017.dbc"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -0,0 +1,177 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 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_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
--- a/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
@@ -0,0 +1,30 @@
+CM_ "IMPORT _toyota_2017.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+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_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/generator/toyota/toyota_corolla_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_corolla_2017_pt.dbc
@@ -0,0 +1,29 @@
+CM_ "IMPORT _toyota_2017.dbc"
+
+BO_ 548 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
--- a/opendbc/generator/toyota/toyota_prius_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_prius_2017_pt.dbc
@@ -0,0 +1,33 @@
+CM_ "IMPORT _toyota_2017.dbc"
+
+BO_ 295 GEAR_PACKET: 8 XXX
+ SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 8 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
--- a/opendbc/generator/toyota/toyota_rav4_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_rav4_2017_pt.dbc
@@ -0,0 +1,29 @@
+CM_ "IMPORT _toyota_2017.dbc"
+
+BO_ 548 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
--- a/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
@@ -0,0 +1,30 @@
+CM_ "IMPORT _toyota_2017.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+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_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/gm_global_a_chassis.dbc
+++ b/opendbc/gm_global_a_chassis.dbc
@@ -0,0 +1,75 @@
+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_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM
+
+
+
+BO_ 823 PACMParkAssitCmd: 7 NEO
+ SG_ RollingCounter : 35|2@0+ (1,0) [0|0] ""  NEO
+ SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] ""  NEO
+ SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] ""  NEO
+
+BO_ 560 EBCMRegen: 6 K17_EBCM
+ SG_ Regen : 1|10@0+ (1,0) [0|0] ""  NEO
+
+BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM
+ SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] ""  NEO
+
+BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM
+ SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
+ SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ FirctionBrakeCmd : 3|12@0- (1,0) [0|0] ""  NEO
+
+BO_TX_BU_ 823 : K43_PSCM,NEO;
+BO_TX_BU_ 789 : NEO,K17_EBCM;
+
+
+CM_ BU_ K182_PACM "Parking Assist Control Module";
+CM_ BU_ K43_PSCM "Power Steering Control Module";
+CM_ BU_ K17_EBCM "Electronic Brake Control Module";
+CM_ BU_ NEO "Comma NEO";
+CM_ BU_ K124_ASCM "Active Safety Control Module";
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "UseGMParameterIDs" 0;
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+
--- a/opendbc/gm_global_a_lowspeed.dbc
+++ b/opendbc/gm_global_a_lowspeed.dbc
@@ -0,0 +1,110 @@
+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_: GMLAN NEO
+VAL_TABLE_ GearShifter 3 "Park" 0 "Drive/Low" ;
+VAL_TABLE_ DriverDoorStatus 1 "Opened" 0 "Closed" ;
+VAL_TABLE_ LKAGapButton 2 "???" 1 "??" 0 "None" ;
+VAL_TABLE_ CruiseButtons 12 "Cancel" 10 "Enabled" 6 "Set" 4 "Resume" 2 "None" ;
+VAL_TABLE_ CruiseControlActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ BlinkerStatus 1 "Active" 0 "Inactive" ;
+
+
+BO_ 274923520 DriverDoorStatus: 1 GMLAN
+ SG_ DriverDoorOpened : 0|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 272629760 Chime: 5 NEO
+ SG_ ChimeType : 7|8@0+ (1,0) [0|0] ""  GMLAN
+ SG_ ChimeRepeat : 23|8@0+ (1,0) [0|0] ""  GMLAN
+ SG_ ChimeDuration : 15|8@0+ (1,0) [0|0] ""  GMLAN
+ SG_ ChimeByte5 : 39|8@0+ (1,0) [0|0] ""  GMLAN
+ SG_ ChimeByte4 : 31|8@0+ (1,0) [0|0] ""  GMLAN
+
+BO_ 270581760 BlinkerStatus: 5 GMLAN
+ SG_ RightBlinker : 6|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LeftBlinker : 7|1@0+ (1,0) [0|0] ""  NEO
+ SG_ BlinkerLight : 25|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 270794752 SteeringWheelAngle: 8 GMLAN
+ SG_ SteeringWheelAngle : 39|16@0- (0.0625,0) [-540|540] "deg"  NEO
+
+BO_ 271368192 GearShifter: 8 GMLAN
+ SG_ GearShifter : 17|2@0+ (1,0) [0|3] ""  NEO
+
+BO_ 271360000 GasPedalRegenCruise: 8 GMLAN
+ SG_ CruiseControlActive : 56|1@0+ (1,0) [0|0] ""  GMLAN
+ SG_ MaxRegen : 12|1@0+ (1,0) [0|1] ""  GMLAN,NEO
+ SG_ GasPedal : 47|8@0+ (1,0) [0|254] ""  GMLAN,NEO
+ SG_ GearShifter2NotUsed : 55|8@0+ (1,0) [0|255] ""  GMLAN,NEO
+
+BO_ 270860288 BrakePedal: 2 GMLAN
+ SG_ BrakeLevel : 2|2@0+ (1,0) [0|3] ""  NEO
+ SG_ BrakeSensor : 15|8@0+ (1,0) [0|255] ""  NEO
+
+BO_ 275480576 WheelSpeed: 8 GMLAN
+ SG_ WheelSpeedFL : 7|16@0+ (0.01,0) [0|70] "yd/s"  NEO
+ SG_ WheelSpeedFR : 39|16@0+ (0.01,0) [0|70] "yd/s"  NEO
+ SG_ WheelSpeedRL : 23|16@0+ (0.01,0) [0|70] "yd/s"  NEO
+ SG_ WheelSpeedRR : 55|16@0+ (0.01,0) [0|70] "yd/s"  NEO
+
+BO_ 270598144 VehicleSpeed: 8 GMLAN
+ SG_ VehicleSpeed1 : 7|16@0+ (0.01,0) [0|100] "mph"  NEO
+ SG_ VehicleSpeed2 : 39|16@0+ (0.01,0) [0|100] "mph"  NEO
+
+BO_ 276135936 CruiseButtons: 3 GMLAN
+ SG_ CruiseButtons : 3|4@0+ (1,0) [0|12] ""  NEO
+
+BO_ 276127744 CruiseButtons2: 1 GMLAN
+ SG_ LKAGapButton : 1|2@0+ (1,0) [0|2] ""  NEO
+
+
+
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+VAL_ 274923520 DriverDoorOpened 1 "Opened" 0 "Closed" ;
+VAL_ 270581760 RightBlinker 1 "Active" 0 "Inactive" ;
+VAL_ 270581760 LeftBlinker 1 "Active" 0 "Inactive" ;
+VAL_ 270581760 BlinkerLight 1 "Active" 0 "Inactive" ;
+VAL_ 271368192 GearShifter 3 "Park" 0 "Drive/Low" ;
+VAL_ 271360000 CruiseControlActive 1 "Active" 0 "Inactive" ;
+VAL_ 276135936 CruiseButtons 12 "Cancel" 10 "Enabled" 6 "Set" 4 "Resume" 2 "None" ;
+VAL_ 276127744 LKAGapButton 2 "???" 1 "??" 0 "None" ;
+
--- a/opendbc/gm_global_a_lowspeed_1818125.dbc
+++ b/opendbc/gm_global_a_lowspeed_1818125.dbc
--- a/opendbc/gm_global_a_object.dbc
+++ b/opendbc/gm_global_a_object.dbc
@@ -0,0 +1,255 @@
+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_: K109_FCM B233B_LRR NEO K124_ASCM
+VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ;
+VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected " 1 "New object" 0 "No object" ;
+VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction " 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
+
+
+BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
+ SG_ Always12 : 0|8@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ TimeStatusChecksum : 0|12@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 161 ASCMTimeStatus: 7 NEO
+ SG_ TimeStatus : 7|28@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ RollingCounter : 27|2@0+ (1,0) [0|0] ""  B233B_LRR
+
+BO_ 774 ASCMSteeringStatus: 8 NEO
+ SG_ ASCMSterringStatusChecksum : 55|16@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ AlwaysF0 : 15|8@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ Always20 : 23|8@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  B233B_LRR
+
+BO_ 784 ASCMHeadlight: 2 NEO
+ SG_ Always42 : 7|8@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ Always4 : 15|8@0+ (1,0) [0|0] ""  B233B_LRR
+
+BO_ 776 ASCMAccSpeedStatus: 7 NEO
+ SG_ AccSpeedChecksum : 42|11@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ RollingCounter : 46|2@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ NearRangeMode : 43|1@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ FarRangeMode : 44|1@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ VehicleAcceleration : 19|12@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ VehicleSpeed : 15|12@0+ (1,0) [0|0] ""  B233B_LRR
+ SG_ AlwaysOne : 3|1@0+ (1,0) [0|0] ""  B233B_LRR
+
+BO_ 1120 LRRNumObjects: 8 B233B_LRR
+ SG_ LRRNumObjects : 20|5@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1134 LRRObject14: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1132 LRRObject12: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1131 LRRObject11: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1130 LRRObject10: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1129 LRRObject09: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1128 LRRObject08: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1127 LRRObject07: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1126 LRRObject06: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1125 LRRObject05: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1124 LRRObject04: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1123 LRRObject03: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1140 LRRObject20: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1139 LRRObject19: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1138 LRRObject18: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1137 LRRObject17: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1136 LRRObject16: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1135 LRRObject15: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1133 LRRObject13: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1122 LRRObject02: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_ 1121 LRRObject01: 8 B233B_LRR
+ SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
+ SG_ TrkRangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s"  NEO
+ SG_ TrkRangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2"  NEO
+ SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
+ SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
+ SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+
+BO_TX_BU_ 161 : K124_ASCM,NEO;
+BO_TX_BU_ 774 : K124_ASCM,NEO;
+BO_TX_BU_ 784 : K124_ASCM,NEO;
+BO_TX_BU_ 776 : K124_ASCM,NEO;
+
+
+CM_ BU_ K109_FCM "Frontview Camera Module ";
+CM_ BU_ B233B_LRR "Radar Sensor Module Long Range";
+CM_ BU_ NEO "Comma NEO";
+CM_ BU_ K124_ASCM "Active Safety Control Module";
+CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider.";
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+BA_ "UseGMParameterIDs" 0;
+VAL_ 776 NearRangeMode 1 "Active" 0 "Inactive" ;
+VAL_ 776 FarRangeMode 1 "Active" 0 "Inactive" ;
+
--- a/opendbc/gm_global_a_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
@@ -0,0 +1,217 @@
+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_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM
+VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
+VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
+VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
+VAL_TABLE_ ACCGapButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCCancelButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_TABLE_ DriverDoorStatus 1 "Opened" 0 "Closed" ;
+VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
+VAL_TABLE_ ACCButton 1 "Pressed" 0 "Depressed" ;
+VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
+VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ;
+VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
+
+
+BO_ 320 BCMTurnSignals: 3 K9_BCM
+ SG_ TurnSignals : 19|2@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+
+BO_ 1249 VIN_Part2: 8 K20_ECM
+ SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1300 VIN_Part1: 8 K20_ECM
+ SG_ VINPart1 : 7|64@0+ (1,0) [0|0] ""  NEO
+
+BO_ 481 ASCMSteeringButton: 7 K124_ASCM
+ SG_ ACCGapButton : 22|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCCancelButton : 7|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 1912 PSCM_778: 8 K43_PSCM
+
+BO_ 328 PSCM_148: 1 K43_PSCM
+
+BO_ 309 ECMPRDNL: 8 K20_ECM
+ SG_ PRNDL : 2|3@0+ (1,0) [0|0] ""  NEO
+
+BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
+ SG_ GPSLongitude : 39|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
+ SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO
+
+BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
+ SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
+
+BO_ 298 BCMDoorStatus: 8 K9_BCM
+ SG_ DriverDoorStatus : 55|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 381 MSG_17D: 6 K20_ECM
+ SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] ""  NEO
+
+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
+
+BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
+ SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] ""  NEO
+
+BO_ 384 ASCMLKASteeringCmd: 4 NEO
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] ""  NEO
+
+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+ (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
+
+BO_ 1930 ASCM_78A: 7 K124_ASCM
+
+BO_ 1296 ASCM_510: 4 K124_ASCM
+
+BO_ 1034 ASCM_40A: 7 K124_ASCM
+
+BO_ 869 ASCM_365: 4 K124_ASCM
+
+BO_ 717 ASCM_2CD: 5 K124_ASCM
+
+BO_ 1033 ASCMKeepAlive: 7 NEO
+ SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO
+
+BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
+ SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
+ SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
+
+BO_ 388 PSCMStatus: 8 K43_PSCM
+ SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] ""  NEO
+ SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] ""  NEO
+ SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
+ SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
+
+BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
+ SG_ YawRate : 51|12@0- (0.0625,0) [-2047|2047] "grad/s"  NEO
+ SG_ LateralAcceleration : 3|12@0- (0.0161,0) [-2047|2047] "m/s2"  NEO
+ SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] ""  NEO
+
+BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
+ SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
+
+BO_ 190 ECMAcceleratorPos: 6 K20_ECM
+ SG_ AcceleratorPos : 23|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
+ SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,1) [1|1] ""  NEO
+ SG_ GasRegenAlwaysOne : 14|1@0+ (1,1) [1|1] ""  NEO
+ SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+
+BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
+ SG_ FLWheelSpd : 7|16@0+ (0.0305,0) [0|255] "km/h"  NEO
+ SG_ FRWheelSpd : 23|16@0+ (0.0305,0) [0|255] "km/h"  NEO
+
+BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
+ SG_ RLWheelSpd : 7|16@0+ (0.0305,0) [0|255] "km/h"  NEO
+ SG_ RRWheelSpd : 23|16@0+ (0.0305,0) [0|255] "km/h"  NEO
+
+BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
+ SG_ BrakePedalPosition : 15|8@0+ (0.392157,0) [0|255] "%"  NEO
+
+BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
+ SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V"  NEO
+ SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
+
+BO_TX_BU_ 384 : K124_ASCM,NEO;
+BO_TX_BU_ 880 : NEO,K124_ASCM;
+BO_TX_BU_ 1033 : K124_ASCM,NEO;
+BO_TX_BU_ 715 : NEO,K124_ASCM;
+
+
+CM_ BU_ K16_BECM "Battery Energy Control Module";
+CM_ BU_ K73_TCIC "Telematics Communication Control Module";
+CM_ BU_ K9_BCM "Body Control Module";
+CM_ BU_ K43_PSCM "Power Steering Control Module";
+CM_ BU_ K17_EBCM "Electronic Brake Control Module";
+CM_ BU_ K20_ECM "Engine Control Module";
+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";
+BA_DEF_  "UseGMParameterIDs" INT 0 0;
+BA_DEF_  "ProtocolType" STRING ;
+BA_DEF_  "BusType" STRING ;
+BA_DEF_DEF_  "UseGMParameterIDs" 1;
+BA_DEF_DEF_  "ProtocolType" "GMLAN";
+BA_DEF_DEF_  "BusType" "";
+BA_ "BusType" "CAN";
+BA_ "ProtocolType" "GMLAN";
+BA_ "UseGMParameterIDs" 0;
+VAL_ 481 ACCGapButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 ACCCancelButton 1 "Active" 0 "Inactive" ;
+VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_ 298 DriverDoorStatus 1 "Opened" 0 "Closed" ;
+VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+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" ;
+VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
+VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ;
+VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
+VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
+VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
+VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+
--- a/opendbc/honda_accord_touring_2016_can.dbc
+++ b/opendbc/honda_accord_touring_2016_can.dbc
@@ -0,0 +1,396 @@
+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_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
+
+
+BO_ 57 XXX_1: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" NEO
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 145 XXX_2: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" NEO
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" NEO
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ ZEROS_BOH : 23|16@0+ (1,0) [0|15000] "" NEO
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 398 XXX_3: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" XXX
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" NEO
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" NEO
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 426 XXX_4: 8 VSA
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 476 XXX_5: 4 XXX
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 487 XXX_6: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|1@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] "" EBCM
+ SG_ FCW2 : 40|1@0+ (1,0) [0|0] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 507 XXX_7: 1 XXX
+
+BO_ 542 XXX_8: 7 XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 545 XXX_9: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 660 SCM_COMMANDS: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 661 XXX_10: 4 XXX
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 662 CRUISE_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 777 XXX_11: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002763889,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 800 XXX_12: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ ENGINE_TEMPERATURE : 7|8@0+ (1,0) [0|255] "" NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] "" NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" NEO
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 808 XXX_13: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 871 XXX_14: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 882 XXX_15: 2 XXX
+ SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 11|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 XXX_16: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 891 XXX_17: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 918 XXX_18: 7 XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 923 XXX_19: 2 XXX
+ SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 11|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 ACC_HUD_2: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 929 XXX_20: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 983 XXX_21: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 985 XXX_22: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" XXX
+
+BO_ 1024 XXX_23: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1027 XXX_24: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 1036 XXX_25: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1039 XXX_26: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1057 XXX_27: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1064 XXX_28: 7 XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1088 XXX_29: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1089 XXX_30: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1108 XXX_31: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1125 XXX_32: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1296 XXX_33: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" XXX
+
+BO_ 1365 XXX_34: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1424 XXX_35: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1600 XXX_36: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1601 XXX_37: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1633 XXX_38: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+BO_TX_BU_ 927 : NEO,ADAS;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_civic_hatchback_ex_2017_can.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can.dbc
@@ -0,0 +1,459 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: EBCM NEO CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+
+BO_ 57 XXX_1: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 148 XXX_2: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 228 STEERING_CONTROL: 5 NEO
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 XXX_3: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" NEO
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" NEO
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" NEO
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" NEO
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" NEO
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 340 XXX_4: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" NEO
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" NEO
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
+ SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
+ SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 427 XXX_5: 3 VSA
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 428 XXX_6: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" NEO
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 441 XXX_7: 5 VSA
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 446 XXX_8: 3 VSA
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" NEO
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 470 XXX_9: 2 XXX
+ SG_ COUNTER : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 11|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 474 XXX_10: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 476 XXX_11: 7 XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 477 XXX_12: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 479 ACC_CONTROL: 8 NEO
+ SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 XXX_13: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 506 XXX_15: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 662 SCM_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 795 XXX_17: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 800 XXX_18: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" NEO
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" NEO
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" NEO
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" NEO
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 808 XXX_19: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 814 XXX_20: 4 XXX
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ ZEROS_BOH : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_TO_1 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_ZERO : 20|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ LIGHT_SWITCH_AUTO : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" NEO
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 929 XXX_21: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 985 XXX_22: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1024 XXX_23: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1027 XXX_24: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 1036 XXX_25: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1039 XXX_26: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1108 XXX_27: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 XXX_28: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1322 XXX_29: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1361 XXX_30: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1365 XXX_31: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1424 XXX_32: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1600 XXX_33: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1601 XXX_34: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1618 XXX_35: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1633 XXX_36: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1670 XXX_37: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+
+CM_ SG_ 344 DISTANCE_COUNTER "";
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
+CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
+CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
+CM_ SG_ 479 ZEROS_BOH "Signed value, negative when braking, positive when applying gas";
+CM_ SG_ 780 HUD_LEAD "0: blank, 1:  no car, 2: car, 3: ACC Off";
+CM_ SG_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+CM_ SG_ 806 CMBS_STATES "3: Pressed, 2: On, 0: Off";
+CM_ SG_ 884 WIPER_SWITCH "0 = PARKED, 1 = INTERMITTENT, 2 = LOW, 3 = HIGH/QUICK WIPE";
+CM_ SG_ 891 HIGH_BEAMS "FLASH TO PASS OR FULL ON";
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -0,0 +1,359 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_civic_touring_2016_can.dbc starts here"
+
+BO_ 148 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 545 ECON_STATUS: 6 XXX
+ SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+
+BO_ 662 SCM_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 927 RADAR_HUD: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
+CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_clarity_hybrid_2018_can.dbc
+++ b/opendbc/honda_clarity_hybrid_2018_can.dbc
@@ -0,0 +1,433 @@
+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_: INTERCEPTOR EBCM NEO ADAS PCM EPS VSA SCM BDY XXX EPB
+
+
+BO_ 57 XXX_1: 3 XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 148 XXX_2: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" NEO
+ SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" NEO
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" NEO
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" NEO
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" NEO
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" NEO
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 344 POWERTRAIN_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ TRIP_DISTANCE : 55|8@0+ (0.010588,0) [0|255] "km" NEO
+
+BO_ 380 POWERTRAIN_DATA2: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" NEO
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" NEO
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 401 GEARBOX_1: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
+
+BO_ 427 XXX_3: 3 VSA
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|6] "" NEO
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 428 XXX_4: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" NEO
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 450 XXX_5: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" NEO
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 476 XXX_7: 7 XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 487 XXX_8: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 493 XXX_9: 5 VSA
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 55|10@0+ (0.003906248,0) [0|0] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|1@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH3 : 42|2@0+ (1,0) [0|0] "" EBCM
+ SG_ FCW2 : 40|1@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 NEO
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" NEO
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 545 XXX_10: 5 XXX
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" NEO
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ SET_TO_X55 : 47|8@0+ (1,0) [0|255] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|6] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 662 CRUISE_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" NEO
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" NEO
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 777 XXX_11: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 795 XXX_12: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 800 XXX_13: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" NEO
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" NEO
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" NEO
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" NEO
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" NEO
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" NEO
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" NEO
+ SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 808 XXX_14: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 829 LKAS_HUD_2: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 862 XXX_15: 8 ADAS
+ SG_ UI_ALERTS : 7|56@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" NEO
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" NEO
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" NEO
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 891 XXX_17: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 927 XXX_19: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 929 XXX_20: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 985 XXX_21: 3 XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1024 XXX_22: 5 XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1027 XXX_23: 5 XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1036 XXX_24: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1039 XXX_25: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1108 XXX_26: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1302 XXX_27: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 1322 XXX_28: 5 XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" NEO
+
+BO_ 1361 XXX_29: 5 XXX
+
+BO_ 1365 XXX_30: 5 XXX
+
+BO_ 1424 XXX_31: 5 XXX
+
+BO_ 1600 XXX_32: 5 XXX
+
+BO_ 1601 XXX_33: 8 XXX
+
+BO_ 1633 XXX_34: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 419 GEARBOX_2: 8 XXX
+ SG_ GEAR : 29|6@0+ (1,0) [0|63] "" NEO
+ SG_ GEAR_SHIFTER : 34|3@0+ (1,0) [0|7] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+
+BO_TX_BU_ 228 : NEO,ADAS;
+BO_TX_BU_ 506 : NEO,ADAS;
+BO_TX_BU_ 780 : NEO,ADAS;
+BO_TX_BU_ 829 : NEO,ADAS;
+BO_TX_BU_ 862 : NEO,ADAS;
+BO_TX_BU_ 927 : NEO,ADAS;
+
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_crv_ex_2017_can.dbc
+++ b/opendbc/honda_crv_ex_2017_can.dbc
@@ -0,0 +1,423 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: EBCM NEO CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+
+BO_ 57 XXX_1: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 148 XXX_2: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 228 STEERING_CONTROL: 5 NEO
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED3 : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_TO_1 : 9|2@0- (1,0) [1|0] "" XXX
+ SG_ ZEROS_BOH2 : 28|5@0+ (1,0) [0|31] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" NEO
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" NEO
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" NEO
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" NEO
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" NEO
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 340 XXX_4: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" NEO
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" NEO
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" NEO
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" NEO
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" NEO
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" NEO
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" NEO
+ SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
+ SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-103) [0|1000] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 427 XXX_5: 3 VSA
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 441 XXX_6: 5 VSA
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 446 XXX_7: 3 VSA
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" NEO
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.002759506,0) [0|70] "m/s" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 474 XXX_9: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 477 XXX_10: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 479 ACC_CONTROL: 8 NEO
+ SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 490 XXX_12: 8 XXX
+ SG_ BOH : 7|32@0+ (1,0) [0|65535] "" XXX
+ SG_ BOH_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_14: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" NEO
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
+ SG_ WHEEL_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 662 SCM_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" NEO
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" NEO
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 800 XXX_16: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" NEO
+ SG_ ENGINE_TEMPERATURE : 0|8@0+ (1,0) [0|65535] "" XXX
+ SG_ BOH_2 : 32|23@0+ (1,0) [0|255] "" NEO
+ SG_ BOH : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOOLEAN : 55|1@0+ (1,0) [0|255] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" NEO
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" NEO
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" NEO
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 808 XXX_17: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 814 XXX_18: 4 XXX
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ ZEROS_BOH : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_TO_1 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_ZERO : 20|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 48|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 XXX_20: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 891 XXX_21: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 929 XXX_23: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 985 XXX_24: 3 XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1024 XXX_25: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1027 XXX_26: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" NEO
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+
+BO_ 1036 XXX_27: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1039 XXX_28: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1108 XXX_29: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 XXX_30: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1322 XXX_31: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1361 XXX_32: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1365 XXX_33: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1424 XXX_34: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1600 XXX_35: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1601 XXX_36: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1618 XXX_37: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1633 XXX_38: 8 XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1670 XXX_39: 5 XXX
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" XXX
+
+
+
+
+CM_ SG_ 344 DISTANCE_COUNTER "";
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
+CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
+CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
+CM_ SG_ 479 ZEROS_BOH "Signed value, negative when braking, positive when applying gas";
+CM_ SG_ 780 HUD_LEAD "0: blank, 1:  no car, 2: car, 3: ACC Off";
+CM_ SG_ 806 CMBS_STATES "3: Pressed, 2: On, 0: Off";
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -0,0 +1,291 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_crv_touring_2016_can.dbc starts here"
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (1,0) [-2047.5|2047.5] "tbd"  EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd"  EON
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] ""  EON
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] ""  EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] ""  EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] ""  EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] ""  EON
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] ""  EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] ""  EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] ""  EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
+ SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -0,0 +1,332 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_odyssey_exl_2018.dbc starts here"
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
+ SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 450 EPB_STATUS: 8 XXX
+ SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 662 SCM_BUTTONS: 4 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 927 RADAR_HUD: 8 ADAS
+ SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
+ SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
+ SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
+ SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
+ SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -0,0 +1,283 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (0.003906248,0) [0|1] "" EBCM
+ SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST_2 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 3 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 5 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ PCM_GAS : 23|7@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH : 16|1@0+ (1,0) [0|255] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_pilot_touring_2017_can.dbc starts here"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 316 GAS_PEDAL: 8 PCM
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/hyundai_2015_ccan.dbc
+++ b/opendbc/hyundai_2015_ccan.dbc
--- a/opendbc/hyundai_2015_mcan.dbc
+++ b/opendbc/hyundai_2015_mcan.dbc
--- a/opendbc/hyundai_i30_2014.dbc
+++ b/opendbc/hyundai_i30_2014.dbc
@@ -0,0 +1,549 @@
+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_ 128 EMS_DCT1: 8 XXX
+    SG_ PV_AV_CAN : 0|8@1+ (0.3906,0) [0|99.603] "%" XXX
+    SG_ TQ_STND : 8|6@1+ (10,0) [0|630] "Nm" XXX
+    SG_ F_N_ENG : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ F_SUB_TQI : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX
+    SG_ TQI_ACOR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ CF_Ems_Alive : 56|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Ems_ChkSum : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 129 EMS_DCT2: 8 XXX
+    SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5,0) [0|315] "Min" XXX
+    SG_ BRAKE_ACT : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Ems_EngOperStat : 8|8@1+ (1,0) [0|255] "" XXX
+    SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX
+    SG_ CF_Ems_Alive2 : 56|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Ems_ChkSum2 : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 160 EngFrzFrm1: 8 XXX
+    SG_ PID_04h : 0|8@1+ (0.392157,0) [0|100] "%" XXX
+    SG_ PID_05h : 8|8@1+ (1,-40) [-40|215] "" XXX
+    SG_ PID_0Ch : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX
+    SG_ PID_0Dh : 32|8@1+ (1,0) [0|255] "km/h" XXX
+    SG_ PID_11h : 40|8@1+ (0.392157,0) [0|100] "%" XXX
+    SG_ PID_03h : 48|16@1+ (1,0) [0|65535] "" XXX
+
+
+BO_ 161 EngFrzFrm2: 8 XXX
+    SG_ PID_06h : 0|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
+    SG_ PID_07h : 8|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
+    SG_ PID_08h : 16|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
+    SG_ PID_09h : 24|8@1+ (0.78125,-100) [-100|99.22] "%" XXX
+    SG_ PID_0Bh : 32|8@1+ (1,0) [0|255] "kPa" XXX
+    SG_ PID_23h : 40|16@1+ (10,0) [0|655350] "kPa" XXX
+
+
+BO_ 304 YRS1: 8 XXX
+    SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "" XXX
+    SG_ CF_Yrs_SnsStat1 : 16|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Yrs_YrStat : 20|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_LatAc : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX
+    SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Yrs_LatAcStat1 : 52|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 305 YRS3: 8 XXX
+    SG_ CR_Yrs_YawAcc : 0|16@1+ (0.125,-4096) [-4096|4095.75] "" XXX
+    SG_ CF_Yrs_YawAccStat : 20|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_Ax : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX
+    SG_ CR_Yrs_MsgCnt3 : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Yrs_AxStat : 52|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_Crc3 : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 320 YRS2: 8 XXX
+    SG_ CF_Yrs_McuStat : 0|8@1+ (1,0) [0|255] "" XXX
+    SG_ CF_Yrs_SnsStat2 : 8|8@1+ (1,0) [0|255] "" XXX
+    SG_ CF_Yrs_ExtSysStat : 32|8@1+ (1,0) [0|255] "" XXX
+    SG_ CR_Yrs_Diag : 40|8@1+ (1,0) [0|255] "" XXX
+    SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Yrs_Type : 52|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 339 TCS1: 8 XXX
+    SG_ TCS_REQ : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ MSR_C_REQ : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_PAS : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_GSC : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Esc_LimoInfo : 4|2@1+ (1,0) [0|3] "" XXX
+    SG_ ABS_DIAG : 6|1@1+ (1,0) [0|1] "" XXX
+    SG_ ABS_DEF : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_DEF : 8|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_CTL : 9|1@1+ (1,0) [0|1] "" XXX
+    SG_ ABS_ACT : 10|1@1+ (1,0) [0|1] "" XXX
+    SG_ EBD_DEF : 11|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP_PAS : 12|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP_DEF : 13|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP_CTL : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_MFRN : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ DBC_CTL : 16|1@1+ (1,0) [0|1] "" XXX
+    SG_ DBC_PAS : 17|1@1+ (1,0) [0|1] "" XXX
+    SG_ DBC_DEF : 18|1@1+ (1,0) [0|1] "" XXX
+    SG_ HAC_CTL : 19|1@1+ (1,0) [0|1] "" XXX
+    SG_ HAC_PAS : 20|1@1+ (1,0) [0|1] "" XXX
+    SG_ HAC_DEF : 21|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESS_STAT : 22|2@1+ (1,0) [0|3] "" XXX
+    SG_ TQI_TCS : 24|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI_MSR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ CF_Esc_BrkCtl : 48|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESC_OFF_STEP : 49|2@1+ (1,0) [0|3] "" XXX
+    SG_ _4WD_Status : 51|1@1+ (1,0) [0|1] "" XXX
+    SG_ AliveCounter_TCS1 : 52|4@1+ (1,0) [0|1] "" XXX
+    SG_ CheckSum_TCS1 : 56|8@1+ (1,0) [0|1] "" XXX
+
+
+BO_ 356 VSM1: 8 XXX
+    SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX
+    SG_ CF_Esc_Act : 12|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Esc_CtrMode : 13|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Esc_Def : 16|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Esc_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Esc_Chksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 357 VSM2: 8 XXX
+    SG_ CR_Mdps_StrTq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX
+    SG_ CR_Mdps_OutTq : 12|12@1+ (0.1,-204.8) [-204.8|204.7] "" XXX
+    SG_ CF_Mdps_Def : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Mdps_SErr : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Mdps_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Mdps_Chksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 399 EMS_H2: 8 XXX
+    SG_ R_TqAcnApvC : 0|8@1+ (0.2,0) [0|51] "Nm" XXX
+    SG_ R_PAcnC : 8|8@1+ (125,0) [0|31875] "hPa" XXX
+    SG_ TQI_B : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ SLD_VS : 24|8@1+ (1,0) [0|255] "km/h" XXX
+    SG_ CF_CdaStat : 32|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Ems_IsgStat : 35|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Ems_OilChg : 38|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1,0) [0|1] "" XXX
+    SG_ R_NEngIdlTgC : 40|8@1+ (10,0) [0|2550] "rpm" XXX
+    SG_ CF_Ems_UpTarGr : 48|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_DownTarGr : 49|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_DesCurGr : 50|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Ems_SldAct : 54|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_SldPosAct : 55|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_HPresStat : 56|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_IsgBuz : 57|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_FCopen : 59|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_ActEcoAct : 60|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_EngRunNorm : 61|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_IsgStat2 : 62|2@1+ (2,0) [0|3] "" XXX
+
+
+BO_ 497 TCS5: 8 XXX
+    SG_ ABS_W_LAMP : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ EBD_W_LAMP : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_OFF_LAMP : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ TCS_LAMP : 3|2@1+ (1,0) [0|3] "" XXX
+    SG_ DBC_W_LAMP : 5|1@1+ (1,0) [0|1] "" XXX
+    SG_ DBC_F_LAMP : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ ODOMETER_LEFT : 8|4@1+ (1,0) [0|15] "m" XXX
+    SG_ ODOMETER_RIGHT : 12|4@1+ (1,0) [0|15] "m" XXX
+    SG_ WHEEL_FL : 16|12@1+ (0.125,0) [0|511.875] "km/h" XXX
+    SG_ WHEEL_FR : 28|12@1+ (0.125,0) [0|511.875] "km/h" XXX
+    SG_ WHEEL_RL : 40|12@1+ (0.125,0) [0|511.875] "km/h" XXX
+    SG_ WHEEL_RR : 52|12@1+ (0.125,0) [0|511.875] "km/h" XXX
+
+
+BO_ 544 ESP2: 8 XXX
+    SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
+    SG_ ESP2_AliveCounter_LSB : 11|3@1+ (1,0) [0|7] "" XXX
+    SG_ LAT_ACCEL_STAT : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ LAT_ACCEL_DIAG : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ LONG_ACCEL : 16|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
+    SG_ ESP2_AliveCounter_MSB : 27|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP2_Checksum_LSB : 28|2@1+ (1,0) [0|3] "" XXX
+    SG_ LONG_ACCEL_STAT : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ LONG_ACCEL_DIAG : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CYL_PRES : 32|12@1+ (0.1,0) [0|409.5] "Bar" XXX
+    SG_ ESP12_Checksum_MSB : 44|2@1+ (1,0) [0|3] "" XXX
+    SG_ CYL_PRES_STAT : 46|1@1+ (1,0) [0|1] "" XXX
+    SG_ CYL_PRESS_DIAG : 47|1@1+ (1,0) [0|1] "" XXX
+    SG_ YAW_RATE : 48|13@1+ (0.01,-40.95) [-40.95|40.96] "" XXX
+    SG_ CYL_PRES_FLAG : 61|1@1+ (1,0) [0|1] "" XXX
+    SG_ YAW_RATE_STAT : 62|1@1+ (1,0) [0|1] "" XXX
+    SG_ YAW_RATE_DIAG : 63|1@1+ (1,0) [0|1] "" XXX
+
+
+BO_ 608 EMS6: 8 XXX
+    SG_ TQI_MIN : 0|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQI_TARGET : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ GLOW_STAT : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CRUISE_LAMP_M : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ CRUISE_LAMP_S : 26|1@1+ (1,0) [0|1] "" XXX
+    SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1,0) [0|1] "" XXX
+    SG_ ENG_STAT : 28|3@1+ (1,0) [0|7] "" XXX
+    SG_ SOAK_TIME_ERROR : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ SOAK_TIME : 32|8@1+ (1,0) [0|255] "Min" XXX
+    SG_ TQI_MAX : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60] "" XXX
+    SG_ Checksum : 56|4@1+ (1,0) [0|15] "" XXX
+    SG_ AliveCounter : 60|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Ems_AclAct : 62|2@1+ (1,0) [0|3] "" XXX
+
+
+BO_ 672 EMS5: 8 XXX
+    SG_ ECGPOvrd : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ QECACC : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ ECFail : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ SwitchOffCondExt : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ BLECFail : 4|1@1+ (1,0) [0|1] "" XXX
+    SG_ AliveCounter : 5|2@1+ (1,0) [0|3] "" XXX
+    SG_ Byte0Parity : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ FA_PV_CAN : 8|8@1+ (0.3906,0) [0|99.2] "%" XXX
+    SG_ IntAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX
+    SG_ STATE_DC_OBD : 24|7@1+ (1,0) [0|127] "" XXX
+    SG_ INH_DC_OBD : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CTR_IG_CYC_OBD : 32|16@1+ (1,0) [0|65535] "" XXX
+    SG_ CTR_CDN_OBD : 48|16@1+ (1,0) [0|65535] "" XXX
+
+
+BO_ 688 SAS1: 8 XXX
+    SG_ SAS_Angle : 0|16@1+ (0.1,0) [-3276.8|3276.7] "Deg" XXX
+    SG_ SAS_Speed : 16|8@1+ (4,0) [0|1016] "" XXX
+    SG_ SAS_Stat : 24|8@1+ (1,0) [0|255] "" XXX
+    SG_ MsgCount : 32|4@1+ (1,0) [0|15] "" XXX
+    SG_ CheckSum : 36|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 790 EMS1: 8 XXX
+    SG_ SWI_IGK : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ F_N_ENG : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ ACK_TCS : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ PUC_STAT : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ TQ_COR_STAT : 4|2@1+ (1,0) [0|3] "" XXX
+    SG_ RLY_AC : 6|1@1+ (1,0) [0|1] "" XXX
+    SG_ F_SUB_TQI : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ TQI_ACOR : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX
+    SG_ TQI : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ VS : 48|8@1+ (1,0) [0|254] "km/h" XXX
+    SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0) [0|2] "" XXX
+
+
+BO_ 809 EMS2: 8 XXX
+    SG_ TQ_STND : 0|6@1+ (10,0) [0|630] "Nm" XXX
+    SG_ CAN_VERS : 0|6@1+ (1,0) [0|7.7] "" XXX
+    SG_ CONF_TCU : 0|6@1+ (1,0) [0|63] "" XXX
+    SG_ OBD_FRF_ACK : 0|6@1+ (1,0) [0|63] "" XXX
+    SG_ MUL_CODE : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ TEMP_ENG : 8|8@1+ (0.75,-48) [-48|143.25] "" XXX
+    SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0) [0|1.99155] "" XXX
+    SG_ VB_OFF_ACT : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ ACK_ES : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ CONF_MIL_FMY : 26|3@1+ (1,0) [0|7] "" XXX
+    SG_ OD_OFF_REQ : 29|1@1+ (1,0) [0|1] "" XXX
+    SG_ ACC_ACT : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ CLU_ACK : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ BRAKE_ACT : 32|2@1+ (1,0) [0|3] "" XXX
+    SG_ ENG_CHR : 34|4@1+ (1,0) [0|15] "" XXX
+    SG_ GP_CTL : 38|2@1+ (1,0) [0|3] "" XXX
+    SG_ TPS : 40|8@1+ (0.469484,-15.0235) [-15.0235|104.695] "%" XXX
+    SG_ PV_AV_CAN : 48|8@1+ (0.3906,0) [0|99.603] "%" XXX
+    SG_ ENG_VOL : 56|8@1+ (0.1,0) [0|25.5] "liter" XXX
+
+
+BO_ 848 FATC: 8 XXX
+    SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0) [0|50.8] "Nm" XXX
+    SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_EcvFlt : 10|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_BlwrOn : 11|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_FATC_Iden : 12|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Fatc_BlwrMax : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_EngStartReq : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_CtrInf : 17|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Fatc_MsgCnt : 20|4@1+ (1,0) [0|15] "" XXX
+    SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40) [-40|60] "" XXX
+    SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40) [-40|60] "" XXX
+    SG_ CF_Fatc_Compload : 40|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Fatc_ActiveEco : 43|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_AutoActivation : 44|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_DefSw : 45|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Fatc_ChkSum : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 880 TCU3: 8 XXX
+    SG_ N_TGT_LUP : 0|8@1+ (10,500) [500|3040] "rpm" XXX
+    SG_ SLOPE_TCU : 8|6@1+ (0.5,-16) [-16|15.5] "%" XXX
+    SG_ CF_Tcu_InhCda : 14|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_IsgInhib : 15|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_NCStat : 18|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_TarGr : 20|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_ShfPatt : 24|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_InhVis : 28|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_PRelReq : 29|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_ITPhase : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10,0) [0|2540] "Nm/s" XXX
+    SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20,0) [0|3500] "rpm" XXX
+    SG_ TQI_TCU_INC : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX
+    SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_SptRdy : 57|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_Alive3 : 58|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 898 EMS9: 8 XXX
+    SG_ CF_Ems_BrkReq : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_DnShftReq : 1|4@1+ (1,0) [0|14] "" XXX
+    SG_ CF_Ems_RepModChk : 5|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_DecelReq : 8|12@1+ (0.001,-4.094) [-4.094|0] "m/s^2" XXX
+    SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0) [0|4094] "hPa" XXX
+    SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40) [0|254] "" XXX
+    SG_ CF_Ems_PumpTPres : 40|8@1+ (3.13725,0) [0|800] "kPa" XXX
+    SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41) [-40|60] "" XXX
+    SG_ CF_Ems_OPSFail : 56|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_ECTTRQLIM : 57|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 1075 EPB1: 8 XXX
+    SG_ EPB_I_LAMP : 0|4@1+ (1,0) [0|15] "" XXX
+    SG_ EPB_F_LAMP : 4|2@1+ (1,0) [0|3] "" XXX
+    SG_ EPB_ALARM : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ EPB_CLU : 8|8@1+ (1,0) [0|255] "" XXX
+    SG_ EPB_SWITCH : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ EPB_RBL : 18|1@1+ (1,0) [0|1] "" XXX
+    SG_ EPB_STATUS : 19|3@1+ (1,0) [0|7] "" XXX
+    SG_ EPB_FRC_ERR : 22|2@1+ (1,0) [0|3] "" XXX
+    SG_ EPB_DBF_STAT : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ ESP_ACK : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ EPB_DBF_REQ : 26|1@1+ (1,0) [0|1] "" XXX
+    SG_ EPB_FAIL : 29|3@1+ (1,0) [0|7] "" XXX
+    SG_ EPB_FORCE : 32|12@1+ (1,-1000) [-1000|3000] "" XXX
+    SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0) [0|2.54] "g" XXX
+
+
+BO_ 1087 TCU1: 8 XXX
+    SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX
+    SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX
+    SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX
+    SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX
+    SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX
+    SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX
+    SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX
+    SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX
+    SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX
+    SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX
+
+
+BO_ 1088 TCU2: 8 XXX
+    SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX
+    SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX
+    SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX
+    SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX
+    SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX
+    SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX
+    SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX
+    SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX
+    SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX
+    SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX
+
+
+BO_ 1200 WHL_SPD: 8 XXX
+    SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
+    SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
+    SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
+    SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0) [0|511.969] "km/h" XXX
+
+
+BO_ 1201 WHL_PUL: 8 XXX
+    SG_ WHL_PUL_FL : 0|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
+    SG_ WHL_PUL_FR : 8|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
+    SG_ WHL_PUL_RL : 16|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
+    SG_ WHL_PUL_RR : 24|8@1+ (0.5,0) [0|127.5] "pulse count" XXX
+    SG_ WHL_DIR_FL : 32|2@1+ (1,0) [0|3] "" XXX
+    SG_ WHL_DIR_FR : 34|2@1+ (1,0) [0|3] "" XXX
+    SG_ WHL_DIR_RL : 36|2@1+ (1,0) [0|3] "" XXX
+    SG_ WHL_DIR_RR : 38|2@1+ (1,0) [0|3] "" XXX
+    SG_ WHL_PUL_Chksum : 56|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 1264 CLU1: 8 XXX
+    SG_ CF_Clu_CruiseSwState : 0|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Blr_MaxStat : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_SldMainSW : 4|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_ParityBit1 : 5|1@1+ (1,0) [0|1] "pulse count" XXX
+    SG_ CF_Clu_SPEED_UNIT : 6|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_ParkBrakeSw : 7|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0) [0|255.5] "km/h or MPH" XXX
+    SG_ CF_Clu_AliveCounter : 17|7@1+ (1,0) [0|127] "" XXX
+    SG_ CF_Clu_CruiseSwMain : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_VanzDecimal : 25|2@1+ (1,0) [0|0.375] "" XXX
+    SG_ VEHICLE_INFO : 27|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_StrRlyState : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_SMKOption : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ R_TqAcnOutC : 32|8@1+ (1,0) [0|51] "Nm" XXX
+    SG_ CF_Clu_Odometer : 40|24@1+ (0.1,0) [0|1.67772e+006] "km" XXX
+
+
+BO_ 1265 CLU3: 8 XXX
+    SG_ CF_Clu_AcnRqSwi : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_AcnCltEnRq : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_RefDetMod : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_DefoggerRly : 5|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_LowfuelWarn : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_SportsModeSwi : 18|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_ALightStat : 20|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_FrtFog : 21|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_DetentOut : 22|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HeadLampTail : 23|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_TrailerMode : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_DTE : 25|10@1+ (1,0) [0|1023] "" XXX
+    SG_ CF_Clu_TripUnit : 35|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_IsaMainSW : 37|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_FlexSteerSW : 40|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_AvsmCur : 41|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudSpeedset : 42|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudTbtSet : 43|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudSccSet : 44|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudLdwsSet : 45|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudDisSet : 46|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HudFontSizeSet : 47|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_HudFontColorSet : 49|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_HudBrightSet : 51|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_HudHeightSet : 53|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_CluInfo : 55|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_RheostatLevel : 56|5@1+ (1,0) [0|31] "" XXX
+    SG_ CF_Clu_DrivinglampStat : 61|3@1+ (1,0) [0|7] "" XXX
+
+
+BO_ 1349 EMS4: 8 XXX
+    SG_ IMMO_LAMP_STAT : 0|1@1+ (1,0) [0|1] "" XXX
+    SG_ L_MIL : 1|1@1+ (1,0) [0|1] "" XXX
+    SG_ IM_STAT : 2|1@1+ (1,0) [0|1] "" XXX
+    SG_ AMP_CAN : 3|5@1+ (10.7316,458.98) [458.98|791.66] "mmHg" XXX
+    SG_ FCO : 8|16@1+ (0.128,0) [0|8388.48] "ul" XXX
+    SG_ VB : 24|8@1+ (0.101563,0) [0|25.8984] "V" XXX
+    SG_ TEMP_FUEL : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX
+    SG_ Split_Stat : 56|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Ems_IsaAct : 57|1@1+ (1,0) [0|1] "" XXX
+
+
+BO_ 1435 TCU4: 8 XXX
+    SG_ CF_TCU_WarnMsg : 0|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_TCU_WarnImg : 3|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_TCU_WarnSnd : 4|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_EolStat : 5|1@1+ (1,0) [0|1] "" XXX
+    SG_ CR_Tcu_GearSelDisp2 : 8|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Tcu_StRelStat : 12|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_DrivingModeReq : 18|4@1+ (1,0) [0|0] "" XXX
+    SG_ CF_Tcu_DrivingModeDisp : 22|4@1+ (1,0) [0|0] "" XXX
+    SG_ CF_Tcu_SiCluster : 26|5@1+ (1,0) [0|0] "" XXX
+    SG_ CF_Tcu_DSmode_Inf : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Tcu_Alive4 : 58|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Tcu_ChkSum4 : 60|4@1+ (1,0) [0|15] "" XXX
+
+
+BO_ 1508 MDPS1: 8 XXX
+    SG_ CF_Mdps_WLmp : 1|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Mdps_ALTRequest : 5|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Mdps_Flex : 8|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Mdps_FlexDisp : 11|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Mdps_CurrMode : 12|2@1+ (1,0) [0|3] "" XXX
+
+
+BO_ 1680 CLU2: 8 XXX
+    SG_ CF_Clu_IGNSw : 0|3@1+ (1,0) [0|7] "" XXX
+    SG_ RKE_CMD : 3|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_DrvDrSw : 6|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_DrvKeyLockSw : 8|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_DrvKeyUnlockSw : 9|1@1+ (1,0) [0|1] "" XXX
+    SG_ PIC_Lock : 10|3@1+ (1,0) [0|7] "" XXX
+    SG_ PIC_Unlock : 13|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_DrvSeatBeltSw : 16|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_TrunkTgSw : 18|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_AstSeatBeltSw : 20|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_HoodSw : 22|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_TurnSigLh : 24|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_TurnSigRh : 25|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_LdwsLkasSW : 26|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_WiperIntT : 27|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_WiperIntSW : 30|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_WiperLow : 31|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_WiperHigh : 32|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_WiperAuto : 33|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_RainSnsStat : 34|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_HeadLampLow : 37|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HeadLampHigh : 38|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_AltLStatus : 39|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_SwiGearR : 43|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_SWL_Stat : 45|3@1+ (1,0) [0|7] "" XXX
+    SG_ CF_Clu_ActiveEcoSW : 48|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_HazardSW : 49|1@1+ (1,0) [0|1] "" XXX
+    SG_ CF_Clu_AliveCnt2 : 50|4@1+ (1,0) [0|15] "" XXX
+    SG_ CF_Clu_AstDrSw : 54|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_LkasDispMode : 56|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_AutoLightLevel : 58|2@1+ (1,0) [0|3] "" XXX
+    SG_ CF_Clu_SunRoofOpenState : 60|1@1+ (1,0) [0|1] "" XXX
+
+
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -0,0 +1,210 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 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_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_rx_hybrid_2017_pt.dbc starts here"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+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_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/mercedes_benz_e350_2010.dbc
+++ b/opendbc/mercedes_benz_e350_2010.dbc
@@ -0,0 +1,62 @@
+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_ 3 NEW_MSG_1: 8 XXX
+ SG_ STEERING_ANGLE : 7|32@0- (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 5 NEW_MSG_2: 8 XXX
+ SG_ BRAKE_POSITION : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ BRAKE_PRESSED : 0|8@1+ (1,0) [0|17] "" XXX
+
+BO_ 69 NEW_MSG_3: 8 XXX
+ SG_ TURN_SIGNAL_LEVER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_CONTROL_LEVER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEERING_WHEEL_BUTTONS : 32|8@1+ (1,0) [0|255] "4 directional, 2 volume control, & 2 phone buttons" XXX
+ SG_ MORE_STEERING_WHEELS_BUTTONS : 40|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1 NEW_MSG_4: 8 XXX
+ SG_ DOOR_LOCK_STATUS : 31|16@0+ (1,0) [0|65535] "" XXX
+
+
+
+
+CM_ SG_ 5 BRAKE_PRESSED "appears to be boolean (brake pressed)";
+CM_ SG_ 69 MORE_STEERING_WHEELS_BUTTONS "back, ok, voice assistance, and mute buttons";
--- a/opendbc/subaru_outback_2016_eyesight.dbc
+++ b/opendbc/subaru_outback_2016_eyesight.dbc
@@ -0,0 +1,73 @@
+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_ 884 DoorStatus: 8 XXX
+ SG_ DoorOpenFD : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ DoorOpenFP : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ DoorOpenRP : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ DoorOpenRD : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ DoorOpenHatch : 28|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 324 CruiseControl: 7 XXX
+ SG_ BrakeApplied : 8|1@0+ (1,0) [0|0] "" XXX
+ SG_ CruiseEnabled : 48|1@0+ (1,0) [0|0] "" XXX
+ SG_ BrakeStatus : 51|1@0+ (1,0) [0|0] "" XXX
+ SG_ CruiseButtons : 4|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ ThrottlePosition : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 209 NEW_MSG_1: 8 XXX
+ SG_ BrakePosition : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 2 Steering: 8 XXX
+ SG_ SteeringAngle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+
+BO_ 642 NEW_MSG_2: 8 XXX
+ SG_ TurnSignal : 45|2@0+ (1,0) [0|3] "" XXX
+
+
+
+CM_ "CHFFR_METRIC 2 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+VAL_ 324 BrakeApplied 1 "On" 0 "Off" ;
+VAL_ 324 CruiseEnabled 1 "On" 0 "Off" ;
+VAL_ 324 BrakeStatus 1 "On" 0 "Off" ;
+VAL_ 324 CruiseButtons 2 "Set" 1 "Resume" ;
+
+VAL_ 642 TurnSignal 2 "Left" 1 "Right" ;
--- a/opendbc/tesla_can.dbc
+++ b/opendbc/tesla_can.dbc
@@ -1,7 +1,7 @@
 VERSION ""


-NS_ : 
+NS_ :
 	NS_DESC_
 	CM_
 	BA_DEF_
@@ -67,53 +67,53 @@ BO_ 1160 DAS_steeringControl: 4 NEO
 SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|0] "" EPAS
 SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" EPAS
 SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|0] "" EPAS
- 
+
 BO_ 257 GTW_epasControl: 3 NEO
- SG_ GTW_epasControlChecksum : 16|8@1+ (1,0) [0|255] "" NEO
- SG_ GTW_epasControlCounter : 12|4@1+ (1,0) [0|15] "" NEO
- SG_ GTW_epasControlType : 8|2@1+ (1,0) [4|-1] "" NEO
- SG_ GTW_epasEmergencyOn : 0|1@1+ (1,0) [2|-1] "" NEO
- SG_ GTW_epasLDWEnabled : 11|1@1+ (1,0) [2|-1] "" NEO
- SG_ GTW_epasPowerMode : 1|4@1+ (1,0) [4|14] "" NEO
- SG_ GTW_epasTuneRequest : 5|3@1+ (1,0) [8|-1] "" NEO
+ SG_ GTW_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO
+ SG_ GTW_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO
+ SG_ GTW_epasControlType : 15|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ GTW_epasEmergencyOn : 7|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ GTW_epasLDWEnabled : 12|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ GTW_epasPowerMode : 6|4@0+ (1,0) [4|14] ""  NEO
+ SG_ GTW_epasTuneRequest : 2|3@0+ (1,0) [-1|8] ""  NEO

 BO_ 880 EPAS_sysStatus: 8 EPAS
- SG_ EPAS_currentTuneMode : 0|4@1+ (1,0) [8|15] "" NEO
- SG_ EPAS_eacErrorCode : 16|4@1+ (1,0) [16|-1] "" NEO
- SG_ EPAS_eacStatus : 48|3@1+ (1,0) [5|7] "" NEO
- SG_ EPAS_handsOnLevel : 32|2@1+ (1,0) [4|-1] "" NEO
- SG_ EPAS_internalSAS : 37|14@0+ (0.10,-819.200010) [0|0] "deg" NEO
- SG_ EPAS_steeringFault : 5|1@1+ (1,0) [2|-1] "" NEO
+ SG_ EPAS_currentTuneMode : 7|4@0+ (1,0) [8|15] ""  NEO
+ SG_ EPAS_eacErrorCode : 23|4@0+ (1,0) [-1|16] ""  NEO
+ SG_ EPAS_eacStatus : 55|3@0+ (1,0) [5|7] ""  NEO
+ SG_ EPAS_handsOnLevel : 39|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ EPAS_internalSAS : 37|14@0+ (0.1,-819.200012) [0|0] "deg"  NEO
+ SG_ EPAS_steeringFault : 2|1@0+ (1,0) [-1|2] ""  NEO
 SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [0|0] "N" NEO
- SG_ EPAS_steeringReduced : 4|1@1+ (1,0) [2|-1] "" NEO
- SG_ EPAS_sysStatusChecksum : 56|8@1+ (1,0) [0|255] "" NEO
- SG_ EPAS_sysStatusCounter : 52|4@1+ (1,0) [0|15] "" NEO
- SG_ EPAS_torsionBarTorque : 19|12@0+ (0.010,-20.50) [0|0] "Nm" NEO
+ SG_ EPAS_steeringReduced : 3|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ EPAS_sysStatusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
+ SG_ EPAS_sysStatusCounter : 51|4@0+ (1,0) [0|15] ""  NEO
+ SG_ EPAS_torsionBarTorque : 19|12@0+ (0.01,-20.5) [0|0] "Nm"  NEO

 BO_ 3 STW_ANGL_STAT: 8 STW
- SG_ CRC_STW_ANGL_STAT : 56|8@1+ (1,0) [0|255] "" NEO
- SG_ MC_STW_ANGL_STAT : 52|4@1+ (1,0) [0|15] "" NEO
- SG_ StW_Angl : 5|14@0+ (0.50,-2048) [0|0] "deg" NEO
- SG_ StW_AnglSens_Id : 36|2@1+ (1,0) [3|3] "" NEO
- SG_ StW_AnglSens_Stat : 38|2@1+ (1,0) [4|-1] "" NEO
- SG_ StW_AnglSpd : 21|14@0+ (0.50,-2048) [0|0] "/s" NEO
+ SG_ StW_Angl : 5|14@0+ (0.5,-2048) [0|0] "deg"  NEO
+ SG_ StW_AnglSpd : 21|14@0+ (0.5,-2048) [0|0] "/s"  NEO
+ SG_ StW_AnglSens_Stat : 33|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ StW_AnglSens_Id : 35|2@0+ (1,0) [3|3] ""  NEO
+ SG_ MC_STW_ANGL_STAT : 55|4@0+ (1,0) [0|15] ""  NEO
+ SG_ CRC_STW_ANGL_STAT : 63|8@0+ (1,0) [0|255] ""  NEO

-BO_ 14 STW_ANGLHP_STAT: 8 GTW
- SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg" NEO
- SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s" NEO
- SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] "" NEO
- SG_ StW_AnglHP_Sens_Id : 35|2@0+ (1,0) [0|0] "" NEO
- SG_ MC_STW_ANGLHP_STAT : 55|4@0+ (1,0) [0|15] "" NEO
- SG_ CRC_STW_ANGLHP_STAT : 63|8@0+ (1,0) [0|0] "" NEO
+BO_ 14 STW_ANGLHP_STAT: 8 STW
 
+ SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg"  NEO
+ SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s"  NEO
+ SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ StW_AnglHP_Sens_Id : 35|2@0+ (1,0) [0|0] ""  NEO
+ SG_ MC_STW_ANGLHP_STAT : 55|4@0+ (1,0) [0|15] ""  NEO
+ SG_ CRC_STW_ANGLHP_STAT : 63|8@0+ (1,0) [0|0] ""  NEO

 BO_ 264 DI_torque1: 8 DI
- SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO
- SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO
- SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO
- SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO
- SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO
- SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO
- SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO
+ SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm"  NEO
+ SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm"  NEO
+ SG_ DI_soptState : 29|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM"  NEO
+ SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%"  NEO
+ SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] ""  NEO

 BO_ 280 DI_torque2: 6 DI
 SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO
@@ -127,62 +127,75 @@ BO_ 280 DI_torque2: 6 DI
 SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO
 SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO
 SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO
- 
+
 BO_ 309 ESP_135h: 5 ESP
- SG_ ESP_135hChecksum : 16|8@1+ (1,0) [0|255] "" NEO
- SG_ ESP_135hCounter : 12|4@1+ (1,0) [0|15] "" NEO
- SG_ ESP_absBrakeEvent : 5|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_brakeDiscWipingActive : 3|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_brakeLamp : 4|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_espFaultLamp : 1|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_espLampFlash : 0|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_hillStartAssistActive : 6|2@1+ (1,0) [4|-1] "" NEO
- SG_ ESP_messagePumpService : 31|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_messagePumpFailure : 30|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_messageEBDFailure : 29|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_absFaultLamp : 28|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_tcDisabledByFault : 27|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_messageDynoModeActive : 26|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_hydraulicBoostEnabled : 25|1@1+ (1,0) [0|1] "" NEO
- SG_ ESP_espOffLamp : 24|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_stabilityControlSts : 9|3@1+ (1,0) [6|7] "" NEO
- SG_ ESP_tcLampFlash : 2|1@1+ (1,0) [2|-1] "" NEO
- SG_ ESP_tcOffLamp : 8|1@1+ (1,0) [0|1] "" NEO
+ SG_ ESP_135hChecksum : 23|8@0+ (1,0) [0|255] ""  NEO
+ SG_ ESP_135hCounter : 11|4@0+ (1,0) [0|15] ""  NEO
+ SG_ ESP_absBrakeEvent : 2|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_brakeDiscWipingActive : 4|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_brakeLamp : 3|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_espFaultLamp : 6|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_espLampFlash : 7|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_hillStartAssistActive : 1|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ ESP_messagePumpService : 24|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_messagePumpFailure : 25|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_messageEBDFailure : 26|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_absFaultLamp : 27|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_tcDisabledByFault : 28|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_messageDynoModeActive : 29|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_hydraulicBoostEnabled : 30|1@0+ (1,0) [0|1] ""  NEO
+ SG_ ESP_espOffLamp : 31|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_stabilityControlSts : 14|3@0+ (1,0) [6|7] ""  NEO
+ SG_ ESP_tcLampFlash : 5|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] ""  NEO

BO_ 341 ESP_B: 8 ESP
 
+ SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] ""  NEO,EPAS
 
+ SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] ""  NEO,EPAS
 
+ SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph"  NEO,EPAS
 
+ SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] ""  NEO,EPAS
 
+ SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
+ SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
+ SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
+ SG_ ESP_wheelPulseCountReR : 31|8@0+ (1,0) [0|254] ""  NEO,EPAS
+
+BO_ 532 EPB_epasControl: 3 EPB
 
+ SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS
 
+ SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS
 
+ SG_ EPB_epasEACAllow : 2|3@0+ (1,0) [4|7] ""  NEO,EPAS

 BO_ 792 GTW_carState: 8 GTW
- SG_ BOOT_STATE : 40|2@1+ (1,0) [4|-1] "" NEO
- SG_ CERRD : 0|1@1+ (1,0) [2|-1] "" NEO
- SG_ DAY : 35|5@1+ (1,0) [2|31] "" NEO
- SG_ DOOR_STATE_FL : 10|2@1+ (1,0) [4|-1] "" NEO
- SG_ DOOR_STATE_FR : 8|2@1+ (1,0) [4|-1] "" NEO
- SG_ DOOR_STATE_FrontTrunk : 52|2@1+ (1,0) [4|-1] "" NEO
- SG_ DOOR_STATE_RL : 16|2@1+ (1,0) [4|-1] "" NEO
- SG_ DOOR_STATE_RR : 25|2@1+ (1,0) [4|-1] "" NEO
- SG_ GTW_updateInProgress : 54|2@1+ (1,0) [4|-1] "" NEO
- SG_ Hour : 27|5@1+ (1,0) [0|29] "h" NEO
- SG_ MCU_factoryMode : 51|1@1+ (1,0) [2|-1] "" NEO
- SG_ MCU_transportModeOn : 50|1@1+ (1,0) [1|1] "" NEO
- SG_ MINUTE : 42|6@1+ (1,0) [0|61] "min" NEO
- SG_ MONTH : 12|4@1+ (1,0) [0|14] "Month" NEO
- SG_ SECOND : 18|6@1+ (1,0) [0|61] "s" NEO
- SG_ YEAR : 1|7@1+ (1,2000) [2000|2125] "Year" NEO
- 
+ SG_ BOOT_STATE : 47|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ CERRD : 7|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ DAY : 36|5@0+ (1,0) [2|31] ""  NEO
+ SG_ DOOR_STATE_FL : 13|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DOOR_STATE_FR : 15|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DOOR_STATE_FrontTrunk : 51|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DOOR_STATE_RL : 23|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DOOR_STATE_RR : 30|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ GTW_updateInProgress : 49|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Hour : 28|5@0+ (1,0) [0|29] "h"  NEO
+ SG_ MCU_factoryMode : 52|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ MCU_transportModeOn : 53|1@0+ (1,0) [1|1] ""  NEO
+ SG_ MINUTE : 45|6@0+ (1,0) [0|61] "min"  NEO
+ SG_ MONTH : 11|4@0+ (1,0) [0|14] "Month"  NEO
+ SG_ SECOND : 21|6@0+ (1,0) [0|61] "s"  NEO
+ SG_ YEAR : 6|7@0+ (1,2000) [2000|2125] "Year"  NEO
+
 BO_ 872 DI_state: 8 DI
- SG_ DI_aebState : 44|3@1+ (1,0) [5|6] "" NEO
- SG_ DI_analogSpeed : 20|12@1+ (0.10,0) [0|409.40] "speed" NEO
- SG_ DI_cruiseSet : 39|9@1+ (0.50,0) [0|255.50] "speed" NEO
- SG_ DI_cruiseState : 8|4@1+ (1,0) [8|15] "" NEO
- SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|254] "" NEO
- SG_ DI_driveReady : 0|1@1+ (1,0) [0|1] "" NEO
- SG_ DI_immobilizerState : 25|3@1+ (1,0) [7|7] "" NEO
- SG_ DI_proximity : 1|1@1+ (1,0) [0|1] "" NEO
- SG_ DI_regenLight : 15|1@1+ (1,0) [0|1] "" NEO
- SG_ DI_speedUnits : 24|1@1+ (1,0) [2|-1] "" NEO
- SG_ DI_state : 12|3@1+ (1,0) [5|7] "" NEO
- SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|255] "" NEO
- SG_ DI_stateCounter : 40|4@1+ (1,0) [0|15] "" NEO
- SG_ DI_systemState : 5|3@1+ (1,0) [5|7] "" NEO
- SG_ DI_vehicleHoldState : 2|3@1+ (1,0) [8|-1] "" NEO
+ SG_ DI_systemState : 0|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_proximity : 6|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_state : 9|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed"  NEO
+ SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] ""  NEO
+ SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed"  NEO
+ SG_ DI_aebState : 41|3@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] ""  NEO
+ SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] ""  NEO
+ SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] ""  NEO

 BO_ 109 SBW_RQ_SCCM: 4 STW
 SG_ StW_Sw_Stat3 : 0|3@1+ (1,0) [0|0] "" NEO
@@ -224,75 +237,75 @@ BO_ 69 STW_ACTN_RQ: 8 STW
 SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO
 SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO
 SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO
- 
+
 BO_ 643 BODY_R1: 8 GTW
- SG_ AirTemp_Insd : 40|8@1+ (0.25,0) [0|63.5] "C" NEO
- SG_ AirTemp_Outsd : 56|8@1+ (0.5,-40) [-40|86.5] "C" NEO
- SG_ Bckl_Sw_RL_Stat_SAM_R : 54|2@1+ (1,0) [4|-1] "" NEO
- SG_ Bckl_Sw_RM_Stat_SAM_R : 50|2@1+ (1,0) [4|-1] "" NEO
- SG_ Bckl_Sw_RR_Stat_SAM_R : 52|2@1+ (1,0) [4|-1] "" NEO
- SG_ DL_RLtch_Stat : 14|2@1+ (1,0) [4|-1] "" NEO
- SG_ DrRLtch_FL_Stat : 6|2@1+ (1,0) [4|-1] "" NEO
- SG_ DrRLtch_FR_Stat : 4|2@1+ (1,0) [4|-1] "" NEO
- SG_ DrRLtch_RL_Stat : 2|2@1+ (1,0) [4|-1] "" NEO
- SG_ DrRLtch_RR_Stat : 0|2@1+ (1,0) [4|-1] "" NEO
- SG_ EngHd_Stat : 12|2@1+ (1,0) [4|-1] "" NEO
- SG_ LoBm_On_Rq : 39|1@1+ (1,0) [0|1] "" NEO
- SG_ HiBm_On : 38|1@1+ (1,0) [0|1] "" NEO
- SG_ Hrn_On : 29|1@1+ (1,0) [0|1] "" NEO
- SG_ IrLmp_D_Lt_Flt : 37|1@1+ (1,0) [0|1] "" NEO
- SG_ IrLmp_P_Rt_Flt : 36|1@1+ (1,0) [0|1] "" NEO
- SG_ LgtSens_Twlgt : 21|3@1+ (1,0) [0|7] "Steps" NEO
- SG_ LgtSens_SNA : 20|1@1+ (1,0) [0|1] "" NEO
- SG_ LgtSens_Tunnel : 19|1@1+ (1,0) [0|1] "" NEO
- SG_ LgtSens_Flt : 18|1@1+ (1,0) [0|1] "" NEO
- SG_ LgtSens_Night : 17|1@1+ (1,0) [2|-1] "" NEO
- SG_ ADL_LoBm_On_Rq : 16|1@1+ (1,0) [0|1] "" NEO
- SG_ LoBm_D_Lt_Flt : 35|1@1+ (1,0) [0|1] "" NEO
- SG_ LoBm_P_Rt_Flt : 34|1@1+ (1,0) [0|1] "" NEO
- SG_ MPkBrk_Stat : 27|1@1+ (1,0) [2|-1] "" NEO
- SG_ RevGr_Engg : 32|2@1+ (1,0) [4|-1] "" NEO
- SG_ StW_Cond_Stat : 48|2@1+ (1,0) [4|-1] "" NEO
- SG_ Term54_Actv : 28|1@1+ (1,0) [0|1] "" NEO
- SG_ Trlr_Stat : 30|2@1+ (1,0) [4|-1] "" NEO
- SG_ VTA_Alm_Actv : 10|1@1+ (1,0) [0|1] "" NEO
- SG_ WprOutsdPkPosn : 26|1@1+ (1,0) [0|1] "" NEO
+ SG_ AirTemp_Insd : 47|8@0+ (0.25,0) [0|63.5] "C"  NEO
+ SG_ AirTemp_Outsd : 63|8@0+ (0.5,-40) [-40|86.5] "C"  NEO
+ SG_ Bckl_Sw_RL_Stat_SAM_R : 49|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Bckl_Sw_RM_Stat_SAM_R : 53|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Bckl_Sw_RR_Stat_SAM_R : 51|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DL_RLtch_Stat : 9|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_FL_Stat : 1|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_FR_Stat : 3|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_RL_Stat : 5|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ DrRLtch_RR_Stat : 7|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ EngHd_Stat : 11|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ LoBm_On_Rq : 32|1@0+ (1,0) [0|1] ""  NEO
+ SG_ HiBm_On : 33|1@0+ (1,0) [0|1] ""  NEO
+ SG_ Hrn_On : 26|1@0+ (1,0) [0|1] ""  NEO
+ SG_ IrLmp_D_Lt_Flt : 34|1@0+ (1,0) [0|1] ""  NEO
+ SG_ IrLmp_P_Rt_Flt : 35|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Twlgt : 18|3@0+ (1,0) [0|7] "Steps"  NEO
+ SG_ LgtSens_SNA : 19|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Tunnel : 20|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Flt : 21|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LgtSens_Night : 22|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ ADL_LoBm_On_Rq : 23|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LoBm_D_Lt_Flt : 36|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LoBm_P_Rt_Flt : 37|1@0+ (1,0) [0|1] ""  NEO
+ SG_ MPkBrk_Stat : 28|1@0+ (1,0) [-1|2] ""  NEO
+ SG_ RevGr_Engg : 39|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ StW_Cond_Stat : 55|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ Term54_Actv : 27|1@0+ (1,0) [0|1] ""  NEO
+ SG_ Trlr_Stat : 25|2@0+ (1,0) [-1|4] ""  NEO
+ SG_ VTA_Alm_Actv : 13|1@0+ (1,0) [0|1] ""  NEO
+ SG_ WprOutsdPkPosn : 29|1@0+ (1,0) [0|1] ""  NEO

 BO_ 760 MCU_gpsVehicleSpeed: 8 MCU
- SG_ MCU_gpsHDOP : 0|8@1+ (0.10,0) [0|25.50] "1" NEO
- SG_ MCU_gpsVehicleHeading : 8|16@1+ (0.007810,0) [0|511.828350] "deg" NEO
- SG_ MCU_gpsVehicleSpeed : 24|16@1+ (0.003910,0) [0|256.241850] "km/hr" NEO
+ SG_ MCU_gpsHDOP : 0|8@1+ (0.1,0) [0|25.5] "1"  NEO
+ SG_ MCU_gpsVehicleHeading : 8|16@1+ (0.00781,0) [0|511.82835] "deg"  NEO
+ SG_ MCU_gpsVehicleSpeed : 24|16@1+ (0.00391,0) [0|256.24185] "km/hr"  NEO
 SG_ MCU_mppSpeedLimit : 51|5@1+ (5,0) [0|155] "kph/mph" NEO
- SG_ MCU_speedLimitUnits : 41|1@1+ (1,0) [2|-1] "" NEO
+ SG_ MCU_speedLimitUnits : 41|1@1+ (1,0) [-1|2] ""  NEO
 SG_ MCU_userSpeedOffset : 42|6@1+ (1,-30) [-30|33] "kph/mph" NEO
- SG_ MCU_userSpeedOffsetUnits : 40|1@1+ (1,0) [2|-1] "" NEO
+ SG_ MCU_userSpeedOffsetUnits : 40|1@1+ (1,0) [-1|2] ""  NEO

 BO_ 904 MCU_clusterBacklightRequest: 3 NEO
 SG_ MCU_clusterBacklightOn : 7|1@1+ (1,0) [0|1] "" NEO
 SG_ MCU_clusterBrightnessLevel : 8|8@1+ (0.5,0) [0|127.5] "%" NEO
- SG_ MCU_clusterReadyForDrive : 6|1@1+ (1,0) [2|-1] "" NEO
+ SG_ MCU_clusterReadyForDrive : 6|1@1+ (1,0) [-1|2] ""  NEO
 SG_ MCU_clusterReadyForPowerOff : 5|1@1+ (1,0) [0|1] "" NEO

 BO_ 984 MCU_locationStatus: 8 MCU
 SG_ MCU_gpsAccuracy : 56|7@1+ (0.200000003,0) [0|25.200000378] "m" NEO
- SG_ MCU_latitude : 0|28@1- (0.000001,0) [-134.21772759734682|134.21772659734683] "deg" NEO
- SG_ MCU_longitude : 28|28@1- (0.000001,0) [-268.43545519469365|268.43545419469365] "deg" NEO
+ SG_ MCU_latitude : 0|28@1- (1E-006,0) [-134.217727597347|134.217726597347] "deg"  NEO
+ SG_ MCU_longitude : 28|28@1- (1E-006,0) [-268.435455194694|268.435454194694] "deg"  NEO

 BO_ 840 GTW_status: 8 GTW
- SG_ GTW_accGoingDown : 1|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_accRailReq : 15|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_brakePressed : 6|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_driveGoingDown : 0|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_driveRailReq : 7|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_driverIsLeaving : 2|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_driverPresent : 5|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_hvacGoingDown : 12|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_hvacRailReq : 14|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_icPowerOff : 3|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_notEnough12VForDrive : 4|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_preconditionRequest : 13|1@1+ (1,0) [0|1] "" NEO
- SG_ GTW_statusChecksum : 56|8@1+ (1,0) [0|255] "" NEO
- SG_ GTW_statusCounter : 52|4@1+ (1,0) [0|15] "" NEO
+ SG_ GTW_accGoingDown : 6|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_accRailReq : 8|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_brakePressed : 1|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driveGoingDown : 7|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driveRailReq : 0|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driverIsLeaving : 5|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_driverPresent : 2|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_hvacGoingDown : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_hvacRailReq : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_icPowerOff : 4|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_notEnough12VForDrive : 3|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_preconditionRequest : 10|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
+ SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] ""  NEO

 VAL_ 3 StW_Angl 16383 "SNA" ;
 VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
@@ -403,3 +416,5 @@ VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
+
+CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -0,0 +1,209 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 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_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "toyota_corolla_2017_pt.dbc starts here"
+
+BO_ 548 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
--- a/opendbc/toyota_iQ_2009_can.dbc
+++ b/opendbc/toyota_iQ_2009_can.dbc
@@ -0,0 +1,197 @@
+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_ 1552 CONTAINS_LRES_SPEED: 8 XXX
+ SG_ SPEED_LOWRES : 16|8@1+ (1,0) [0|255] "km/h?" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 452 ENGINE: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIFFERENT_EACH_RIDE : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ A_DECREASING_VALUE : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 37 STEERING: 8 XXX
+ SG_ STEER_DIRECTION : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 42|2@0- (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 44|2@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 46|2@0- (1,0) [0|3] "" XXX
+ SG_ STEER_ANGLE : 2|11@0- (1,0) [-350|350] "" XXX
+
+BO_ 36 ACCELERATIONS: 8 XXX
+ SG_ ACC_LAT_CLEAN : 2|11@0- (1,0) [0|255] "" XXX
+ SG_ ACC_LATERAL : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ ACC_FRONT_BACK_1 : 31|8@0- (1,0) [0|255] "" XXX
+ SG_ ACC_FRONT_BACK_2 : 47|8@0- (1,0) [0|255] "" XXX
+
+BO_ 947 LOW_RES_INDICATORS: 8 XXX
+ SG_ LOW_RES_ACC_PEDAL : 23|7@0+ (1,0) [0|63] "" XXX
+ SG_ LOW_RES_RPM : 7|16@0+ (1,0) [0|255] "rpm" XXX
+
+BO_ 955 BRAKING_PLUS_OTHER: 8 XXX
+ SG_ IS_BRAKING_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ ENGINE_TEMPERATURE : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ MAYBE_CLUTCH : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1595 CONTAINS_TIME: 8 XXX
+ SG_ TIME_ON : 55|16@0+ (0.1,0) [0|65535] "s" XXX
+ SG_ BETWEEN_RIDES : 7|32@0+ (1,0) [0|4294967295] "" XXX
+
+BO_ 170 WHEELS_SPEEDS: 8 XXX
+ SG_ FRONT_LEFT_WHEEL_SPEED : 23|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
+ SG_ REAR_RIGHT_WHEEL_SPEED : 39|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
+ SG_ REAR_LEFT_WHEEL_SPEED : 55|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
+ SG_ FRONT_RIGHT_WHEEL_SPEED : 7|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX
+
+BO_ 180 VEHICLE_DYNAMICS: 8 XXX
+ SG_ WIERD_STUFF : 8|2@1+ (1,0) [0|3] "" XXX
+ SG_ VEHICLE_SPEED : 47|16@0+ (0.01,0) [0|255] "km/h" XXX
+ SG_ SPEED_MOD_256 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ MAYBE_DISTANCE_MOD_256 : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 186 NEW_MSG_9: 8 XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 426 NEW_MSG_5: 8 XXX
+ SG_ CONSTANT : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 906 BOOLS: 8 XXX
+ SG_ MAY_CONTAIN_LIGHTS : 7|4@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_1 : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ MOVEMENT_START_TRIGGER : 0|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 979 LOW_RES_ACCELERATOR: 8 XXX
+ SG_ VERY_LRES_ACC : 7|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1600 SLOW_VARIABLE_INFOS: 8 XXX
+ SG_ CHANGES_EACH_RIDE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_VALUE_FUEL : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1568 DOORS: 8 XXX
+ SG_ KEY_ACC : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEY_ON : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEY_INSERT : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ NOT_ON : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_RIGHT : 44|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_TRUNK : 41|1@1+ (1,0) [0|3] "" XXX
+ SG_ DOOR_LEFT : 45|1@0+ (1,0) [0|255] "" XXX
+ SG_ HANDBRAKE : 60|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_SEATBELT : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ TRIGGER_BOOL : 15|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 COMMAND: 8 XXX
+ SG_ NOT_ACCELERATING_PEDAL : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_PEDAL_SENSOR : 55|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ACC_COMMAND : 31|16@0- (1,0) [0|7] "" XXX
+ SG_ ACC_PEDAL_MEAN : 15|16@0- (1,0) [0|255] "" XXX
+ SG_ NEGATIVE_COMMAND_OFFSET : 47|8@0- (1,0) [0|255] "" XXX
+
+BO_ 928 STEER2_MAYBE: 8 XXX
+ SG_ NEW_SIGNAL_1 : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_2 : 60|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_4 : 5|6@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 46|7@0+ (1,0) [0|15] "" XXX
+
+BO_ 896 LONG_TERM_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 944 LONG_TERM_MSG: 8 XXX
+ SG_ LONG_TERM_SIGN : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1553 TOTAL_DIST: 8 XXX
+ SG_ TOTAL_DISTANCE : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1572 WHY_THESE_VALUES: 8 XXX
+
+BO_ 1555 BETWEEN_RIDES_CHANGE_1: 8 XXX
+ SG_ BETWEEN_RIDES : 23|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1090 ASYNC_MSG_ACK: 8 XXX
+ SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1592 NEW_MSG_14: 8 XXX
+ SG_ DOORS_LOCKED2 : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOORS_LOCKED1 : 16|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 NEW_MSG_6: 8 XXX
+ SG_ VERY_SMALL_SIGNAL2 : 56|1@0+ (1,0) [0|255] "" XXX
+ SG_ VERY_SMALL_SIGNAL1 : 0|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 945 BETWEEN_RIDES_CHANGES_2: 8 XXX
+ SG_ BETWEEN_RIDES : 24|1@0+ (1,0) [0|65535] "" XXX
+
+
+
+
+CM_ SG_ 1552 SPEED_LOWRES "Negative values to check";
+CM_ SG_ 452 CHECKSUM "Follows path of RPMs but more precise & 1 byte only";
+CM_ SG_ 452 A_DECREASING_VALUE "stabilizes to 62 after ~10 mins";
+CM_ SG_ 37 STEER_DIRECTION "Could be intended as 12 bit steering angle";
+CM_ SG_ 37 STEER_ANGLE "can convert to degrees (imprecise) or percentage of max amplitude";
+CM_ SG_ 36 ACC_FRONT_BACK_1 "more likely up-down";
+CM_ SG_ 36 ACC_FRONT_BACK_2 "more likely front-back";
+CM_ SG_ 947 LOW_RES_ACC_PEDAL "Follows rather closely other acceleration commands";
+CM_ SG_ 947 LOW_RES_RPM "Mabe used for onboard display?";
+CM_ SG_ 955 MAYBE_CLUTCH "might be related to shifting gears";
+CM_ SG_ 1595 TIME_ON "Time since last ignition, tenth of seconds";
+CM_ SG_ 1595 BETWEEN_RIDES "the fourth byte (at least) changes between rides";
+CM_ SG_ 180 WIERD_STUFF "Might be a signed value on the whole two bytes (sometimes all set)";
+CM_ SG_ 180 VEHICLE_SPEED "Roughly 2 seconds before wheel speeds";
+CM_ SG_ 180 SPEED_MOD_256 "One byte speed, a bit before vehicle speed";
+CM_ SG_ 180 MAYBE_DISTANCE_MOD_256 "Looks like measure for distance or wheel angle";
+CM_ SG_ 906 MOVEMENT_START_TRIGGER "trigger of when speed becomes != 0";
+CM_ SG_ 979 VERY_LRES_ACC "Power used by engine? moves alongside speed, very low res, goes from 0 to 9 max?";
+CM_ SG_ 1600 CHANGES_EACH_RIDE "Small decrementation during some rides, possibly long term fuel";
+CM_ SG_ 1600 INCREASING_VALUE_FUEL "Fuel/distance? Average fuel consumption?";
+CM_ SG_ 705 NOT_ACCELERATING_PEDAL "Looks like opposite of accelerating bit";
+CM_ SG_ 705 ACC_PEDAL_SENSOR "similar to pedal sensor maybe checksum.";
+CM_ SG_ 705 ACC_COMMAND "Similar to other pedal indicator., cleaner, must be sent back to engine";
+CM_ SG_ 705 ACC_PEDAL_MEAN "Actual sensor for pedal (works when engine off)";
+CM_ SG_ 705 NEGATIVE_COMMAND_OFFSET "Mysterious for now";
+CM_ SG_ 928 NEW_SIGNAL_1 "Very slow changing noisy value, 45-49 in 10 min";
+CM_ SG_ 928 NEW_SIGNAL_2 "Other very slow changing 24-26 in 10 min";
+CM_ SG_ 928 NEW_SIGNAL_4 "Inconsistent across rides";
+CM_ SG_ 896 NEW_SIGNAL_1 "there is a difference at the beginning of 2017-10-31--12-04-05";
+CM_ SG_ 1553 TOTAL_DISTANCE "Probably also contains the previous/two previous bytes but can't confirm";
+CM_ SG_ 945 BETWEEN_RIDES "Might be others in the same message. at least this one";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 452 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 955 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/toyota_prius_2017_adas.dbc
+++ b/opendbc/toyota_prius_2017_adas.dbc
@@ -0,0 +1,261 @@
+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_ 528 TRACK_A_0: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 529 TRACK_A_1: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 530 TRACK_A_2: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 531 TRACK_A_3: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 532 TRACK_A_4: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 533 TRACK_A_5: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 534 TRACK_A_6: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 535 TRACK_A_7: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 536 TRACK_A_8: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 537 TRACK_A_9: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 538 TRACK_A_10: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 539 TRACK_A_11: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 540 TRACK_A_12: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 541 TRACK_A_13: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 542 TRACK_A_14: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 543 TRACK_A_15: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX
+ SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX
+ SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX
+ SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 544 TRACK_B_0: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 545 TRACK_B_1: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 546 TRACK_B_2: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 547 TRACK_B_3: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 548 TRACK_B_4: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 549 TRACK_B_5: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 550 TRACK_B_6: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 551 TRACK_B_7: 8 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 TRACK_B_8: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 553 TRACK_B_9: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 554 TRACK_B_10: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 555 TRACK_B_11: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 556 TRACK_B_12: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 557 TRACK_B_13: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 558 TRACK_B_14: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 559 TRACK_B_15: 6 XXX
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -0,0 +1,213 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 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_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "toyota_prius_2017_pt.dbc starts here"
+
+BO_ 295 GEAR_PACKET: 8 XXX
+ SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 8 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -0,0 +1,209 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 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_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "toyota_rav4_2017_pt.dbc starts here"
+
+BO_ 548 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -0,0 +1,210 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 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_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+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_ 581 GAS_PEDAL "it seems slightly filtered";
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 50 "temporary_fault";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/vw_golf_mk4.dbc
+++ b/opendbc/vw_golf_mk4.dbc
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
--- a/1
+++ b/1
--- a/panda/.gitignore
+++ b/panda/.gitignore
@@ -0,0 +1,12 @@
+*.pyc
+.*.swp
+.*.swo
+*.o
+a.out
+*~
+.#*
+dist/
+pandacan.egg-info/
+board/obj/
+examples/output.csv
+.DS_Store
--- a/panda/.travis.yml
+++ b/panda/.travis.yml
@@ -0,0 +1,20 @@
+language: python
+
+cache:
+  directories:
+    - build/commaai/panda/boardesp/esp-open-sdk/crosstool-NG
+
+addons:
+  apt:
+    packages:
+    - gcc-arm-none-eabi
+    - libnewlib-arm-none-eabi
+    - gperf
+    - texinfo
+    - help2man
+
+script:
+  - python setup.py install
+  - pushd board && make bin && popd
+  - pushd boardesp && git clone --recursive https://github.com/pfalcon/esp-open-sdk.git && pushd esp-open-sdk && git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec && LD_LIBRARY_PATH="" make STANDALONE=y && popd && popd
+  - pushd boardesp && make user1.bin && popd
--- a/panda/LICENSE
+++ b/panda/LICENSE
@@ -0,0 +1,7 @@
+Copyright (c) 2016, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
--- a/panda/README.md
+++ b/panda/README.md
@@ -0,0 +1,89 @@
+Welcome to panda
+======
+
+[panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
+
+<a href="https://panda.comma.ai"><img src="https://github.com/commaai/panda/blob/master/panda.png">
+
+<img src="https://github.com/commaai/panda/blob/master/buy.png"></a>
+
+It supports 3x CAN, 2x LIN, and 1x GMLAN. It also charges a phone. On the computer side, it has both USB and Wi-Fi.
+
+It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004) for low level stuff and an [ESP8266](https://en.wikipedia.org/wiki/ESP8266) for Wi-Fi. They are connected over high speed SPI, so the panda is actually capable of dumping the full contents of the busses over Wi-Fi, unlike every other dongle on amazon. ELM327 is weak, panda is strong.
+
+It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.
+
+[![Build Status](https://travis-ci.org/commaai/panda.svg?branch=master)](https://travis-ci.org/commaai/panda)
+
+Usage
+------
+
+To install the library:
+```
+# pip install pandacan
+```
+
+See [this class](https://github.com/commaai/panda/blob/master/python/__init__.py#L80) for how to interact with the panda.
+
+For example, to receive CAN messages:
+```
+>>> from panda import Panda
+>>> panda = Panda()
+>>> panda.can_recv()
+```
+And to send one on bus 0:
+```
+>>> panda.can_send(0x1aa, "message", 0)
+```
+More examples coming soon
+
+Software interface support
+------
+
+As a universal car interface, it should support every reasonable software interface.
+
+- User space ([done](https://github.com/commaai/panda/tree/master/python))
+- socketcan in kernel ([alpha](https://github.com/commaai/panda/tree/master/drivers/linux))
+- ELM327 ([done](https://github.com/commaai/panda/blob/master/boardesp/elm327.c))
+- Windows J2534 ([alpha](https://github.com/commaai/panda/tree/master/drivers/windows))
+
+Directory structure
+------
+
+- board      -- Code that runs on the STM32
+- boardesp   -- Code that runs on the ESP8266
+- drivers    -- Drivers (not needed for use with python)
+- python     -- Python userspace library for interfacing with the panda
+- tests      -- Tests and helper programs for panda
+
+Programming (over USB)
+------
+
+[Programming the Board (STM32)](board/README.md)
+
+[Programming the ESP](boardesp/README.md)
+
+
+Debugging
+------
+
+To print out the serial console from the STM32, run tests/debug_console.py
+
+To print out the serial console from the ESP8266, run PORT=1 tests/debug_console.py
+
+Safety Model
+------
+
+When a panda powers up, by default it's in "SAFETY_NOOUTPUT" mode. While in no output mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB.
+
+Safety modes can also optionally support "controls_allowed", which allows or blocks a subset of messages based on a piece of state in the board.
+
+Hardware
+------
+
+Check out the hardware [guide](https://github.com/commaai/panda/blob/master/docs/guide.pdf)
+
+Licensing
+------
+
+panda software is released under the MIT license unless otherwise specified.
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	28c0797d30	openpilot v0.4.2 release	2018-02-06 12:43:45 -08:00
Vehicle Researcher	a701aa7292	Merge opendbc subtree	2018-02-06 12:39:39 -08:00
Vehicle Researcher	7ae657880d	Squashed 'opendbc/' changes from 3ca654f..81d9871 81d9871 Lexus: added first draft of RX dbc file cb352da fix toyota steering lka message length d294f64 fix gas pedal message length rav4h 2d035de acura rdx remove double defined message 500a734 fix acura rdx dbc, import was missing git-subtree-dir: opendbc git-subtree-split: 81d9871dbe00ccfc5fe4418ea3577726fffa1def	2018-02-06 12:39:39 -08:00
Vehicle Researcher	433f934783	Merge panda subtree	2018-02-06 12:39:38 -08:00
Vehicle Researcher	db67cffb4d	Squashed 'panda/' changes from b42db6d..98f29a4 98f29a4 v1.0.7 has working grey panda git-subtree-dir: panda git-subtree-split: 98f29a4a97af58aa4707bdaba948ac366ab2e6a0	2018-02-06 12:39:38 -08:00
vanillagorillaa	0dc6778548	Acura RDX 2018 AcuraWatch Plus Port (#162 ) * Adding Acura RDX alpha support	2018-02-05 18:38:40 -08:00
ErichMoraga	c86b52698b	Update fingerprints.py Taiwanese Prius Prime fingerprint was identical to the regular prime (107 msgs.), but should really have 110. I have the correct one in there now.	2018-02-05 14:16:58 -08:00
George Hotz	e5e5aa7ded	openpilot v0.4.1 hotfix	2018-02-02 19:30:44 -08:00
George Hotz	4474b9b371	openpilot v0.4.1 tweaks	2018-01-30 21:34:01 -08:00
Vehicle Researcher	26e966852c	openpilot v0.4.1 release	2018-01-30 12:58:14 -08:00
Vehicle Researcher	852166f5cc	Squashed 'opendbc/' changes from 8753665..3ca654f 3ca654f move acura rdx to generator folder 1c7c490 move pilot touring to generated 89856dd fix bugs in some counter/checksum definitions 451a2b4 honda wheelspeed in kph to match toyota 290dd14 rename generic honda and toyota dbcs to include year ccb8a14 readded gas interceptor to hondas so it does not break regression tests 66d256e readme explanation of preprocessor 6c8d9f7 regenerate new steer torque eps factor beba6d5 move generated files to root folder 2b5b0aa Toyota: different factor for STEER_TORQUE_EPS e41b174 fix typo 682f557 cleanup 1faf67c fix crv steering_control message cce6c79 add odometer message to civic and odyssey 74cc834 fix PCM_SPEED factor 3f2baa5 fix honda dometer scaling f6fd6b9 fix comments and values f0ba5e2 whitespace consistency 8c77a5d dbc file preprocessor 10f8c6e consistent can message names for supported Hondas af07d6a Topyota Corolla: added dbc file, seems the same as Rav4 a632fde Cleanup duplicate message names git-subtree-dir: opendbc git-subtree-split: 3ca654f88545d05bf23cb8ff945f06a28c32902e	2018-01-30 12:54:13 -08:00
Vehicle Researcher	75ac92b90f	Merge opendbc subtree	2018-01-30 12:54:13 -08:00
Vehicle Researcher	96f8e5158e	Squashed 'panda/' changes from 2573d86..b42db6d b42db6d Merge pull request #82 from commaai/uart_dma fd68f86 smallr be99ffc ok that doesn't hurt i think a9f6bf0 this 8b7e849 working now 7fa4808 froze up, maybe thats the fix 1465aa4 ok, it's fixed 915cd84 ugh, ok, need that fd05376 comment out debug 37c5263 big fifo 497f069 dma is all critical, no interrupts 7c34afe minor change 743d244 high baud rate works 5d2a4ba v1.0.6 fbf1390 Toyota Safety: fix in input param 6c01d09 Toyota: less torque error allowance to meet Corolla acceptable behavior 07c01b2 Toyota safety: using input param 4410a59 add safety param support fc81fc1 uart dma in progress 65fb2b2 grey panda query, 1.0.5 f415c9a grey panda detection b68957e add pandadebug support b5e4962 leave msgs around in isotp 0acce2d add recvaddr support 3fc38f4 set bootmode with power d4c052a make that work 21f8195 fix panda serial write af74aa9 from python import git-subtree-dir: panda git-subtree-split: b42db6dc082fb13ef5ac63ed197a63e179651ef6	2018-01-30 12:54:12 -08:00
Vehicle Researcher	b68f3f7781	Merge panda subtree	2018-01-30 12:54:12 -08:00
George Hotz	36bef17224	Merge pull request #155 from slesinski/odyssey-port Honda Odyssey 2018 EX-L with Honda Sensing	2018-01-18 21:49:14 -08:00
Ted Slesinski	715771bcff	Unnecessary characters in comma's dongle id	2018-01-19 00:47:47 -05:00
Ted Slesinski	8e264baaa2	SteerRatio should be 14.35	2018-01-19 00:37:32 -05:00
Ted Slesinski	8ff147de6d	Added the extra carstate reads	2018-01-19 00:34:02 -05:00
Ted Slesinski	71057c586f	Tuning specific to odyssey	2018-01-19 00:34:02 -05:00
Ted Slesinski	fac22f4038	Gear shifter values like acura	2018-01-19 00:32:51 -05:00
Ted Slesinski	40094779d7	Car_gas 130 missing canbus, using 17c	2018-01-19 00:32:51 -05:00
Ted Slesinski	2552aa45c3	BRAKE_HOLD signal not ready yet	2018-01-19 00:32:51 -05:00
Ted Slesinski	c2972a80f9	Park Brake not yet in DBC	2018-01-19 00:32:51 -05:00
Ted Slesinski	791a440709	Wrong value for MAIN_ON	2018-01-19 00:32:51 -05:00
Ted Slesinski	13145dd9a7	Packet size off on a fingerprint id	2018-01-19 00:32:51 -05:00
Ted Slesinski	e9c477dcf2	Add hondacan changes	2018-01-19 00:30:33 -05:00
Ted Slesinski	8eebd19884	Add carcontroller changes	2018-01-19 00:30:33 -05:00
Ted Slesinski	a54b35a4d6	Add odyssey car params to interface	2018-01-19 00:30:33 -05:00
Ted Slesinski	8a6f7a5e78	Add carstate changes	2018-01-19 00:30:33 -05:00
Ted Slesinski	6752959d4a	Add odyssey fingerprint	2018-01-19 00:30:33 -05:00
Vehicle Researcher	da52d065a4	openpilot v0.4.0.2 release	2018-01-18 15:46:12 -08:00
Vehicle Researcher	255e45ca58	Squashed 'opendbc/' changes from 48968cc..8753665 8753665 Fix Chevy Volt actuator signal parsing (#66) 89963c9 Toyota: added auto high beam b07a84d Add Honda Clarity Hybrid (#65) ca352b3 add hyundai 2015 (#63) git-subtree-dir: opendbc git-subtree-split: 87536651c21daddba932f5d8668b52a0ece9082f	2018-01-18 15:42:13 -08:00
Vehicle Researcher	b731b7cf12	Merge opendbc subtree	2018-01-18 15:42:13 -08:00
Vehicle Researcher	5f014635e1	Squashed 'panda/' changes from c371fe6..2573d86 2573d86 docs say max is 4, respect the docs 864cd8f failing on some devices 54bcc67 Merge pull request #75 from gregjhogan/j2534-vs-2017-upgrade 1664270 Merge pull request #74 from gregjhogan/j2534-disconnect-fix a7e3a8f bump panda version for serial bug aa0cfad fix UART hang 09ab8f6 add sendaddr support to isotp 40a1883 fix up baud rate 65997ff add PandaSerial and location panda (aka pigeon) test 57d633c upgraded to VS 2017 35cc32a fixed pointer exception on disconnect git-subtree-dir: panda git-subtree-split: 2573d861e605a2dcf456a6421b31e83fdd9ca606	2018-01-18 15:42:12 -08:00
Vehicle Researcher	ef3d8314d3	Merge panda subtree	2018-01-18 15:42:12 -08:00
Vehicle Researcher	7ef3fd567f	openpilot v0.4.0.1 tweaks	2018-01-16 23:26:39 -08:00
heatnation	b773e27ad1	Update fingerprints.py	2018-01-15 18:22:15 -08:00
Vehicle Researcher	a77c0a1098	openpilot v0.4.0.1 release	2017-12-23 17:15:27 -08:00
Vehicle Researcher	c7b5fb9116	Merge commit '57b9ddf20ef28d7a9b4fd57c08630281ef103422' as 'pyextra'	2017-12-23 17:10:45 -08:00
Vehicle Researcher	57b9ddf20e	Squashed 'pyextra/' content from commit 4eda4dd git-subtree-dir: pyextra git-subtree-split: 4eda4dd765c2bc719da9064774de6b2c14c322d1	2017-12-23 17:10:45 -08:00
Vehicle Researcher	ba97d0e838	Squashed 'opendbc/' content from commit 48968cc git-subtree-dir: opendbc git-subtree-split: 48968cc97e20bbbff79a4380b69a6a5a858c9d1c	2017-12-23 17:10:44 -08:00
Vehicle Researcher	b8085e2c42	Merge commit 'ba97d0e83837b4c893edc609001dde7c41b8e24b' as 'opendbc'	2017-12-23 17:10:44 -08:00
Vehicle Researcher	c251b312d8	Squashed 'panda/' content from commit c371fe6 git-subtree-dir: panda git-subtree-split: c371fe688dbad4c53635905d3471a01c185e811d	2017-12-23 17:10:42 -08:00
Vehicle Researcher	14fb17e22f	Merge commit 'c251b312d87d26b5ed347b267f6f1570793f9b91' as 'panda'	2017-12-23 17:10:42 -08:00
Vehicle Researcher	a34c87ab46	remove submodules	2017-12-23 17:06:56 -08:00
Vehicle Researcher	1ad9cc8c67	openpilot v0.3.9 tweaks	2017-12-06 12:48:00 -08:00
Vehicle Researcher	5627d0d7fd	openpilot v0.3.9 release	2017-11-22 04:30:24 -08:00
Vehicle Researcher	2cfdbefde8	update releases	2017-11-04 05:31:15 -07:00
Vehicle Researcher	7dabcdace8	openpilot v0.3.8.2 tweaks	2017-11-03 18:21:38 -07:00
Vehicle Researcher	187a70f760	openpilot v0.3.8.2 release	2017-10-31 02:27:39 -07:00
Vehicle Researcher	48303589e9	openpilot v0.3.7 tweaks	2017-10-03 23:46:23 -07:00
Vehicle Researcher	8385b27cad	openpilot v0.3.7 tweaks	2017-10-03 00:35:46 -07:00
George Hotz	abd75aedd7	Bump panda version to fix old board updating	2017-09-30 23:30:38 -07:00
Vehicle Researcher	daf54ad54d	openpilot v0.3.7 release	2017-09-30 19:05:03 -07:00
espes	94fe677f91	Fix rear view mirror setting	2017-08-28 22:24:11 -07:00
Vehicle Researcher	3de85098e5	openpilot v0.3.6.1 tweaks	2017-08-16 05:21:06 -07:00
Vehicle Researcher	5524dc8773	openpilot v0.3.6.1 release	2017-08-15 03:15:00 -07:00
Vehicle Researcher	19dd5f3e32	openpilot v0.3.6 tweaks	2017-08-10 20:38:56 -07:00
Vehicle Researcher	99cb610b12	openpilot v0.3.6 release	2017-08-09 17:41:38 -07:00
Vehicle Researcher	9d3963559a	openpilot v0.3.5 release	2017-07-30 17:59:37 -07:00
Vehicle Researcher	1b8c44b506	openpilot v0.3.4 tweaks	2017-07-28 20:51:27 -07:00
Vehicle Researcher	6f46f988d9	openpilot v0.3.4 release	2017-07-28 03:23:57 -07:00
George Hotz	68485aa4e4	Merge pull request #116 from commaai/revert-114-new_panda_code Revert "Pulled in new panda firmware and updated boardd to support the changes."	2017-07-17 23:17:13 -07:00
George Hotz	1581fdc198	Revert "Pulled in new panda firmware and updated boardd to support the changes."	2017-07-17 23:16:57 -07:00
George Hotz	317ae0fb37	Merge pull request #114 from diamondman/new_panda_code Pulled in new panda firmware and updated boardd to support the changes.	2017-07-11 22:24:38 -07:00
Jessy Diamond Exum	5bf4196aed	Removed unnecessary TODO	2017-07-11 22:01:04 -07:00
Jessy Diamond Exum	38aa03e0f7	Moved boardd loopback config to envvar.	2017-07-11 21:59:03 -07:00
Jessy Diamond Exum	9a9dc3ab23	Pulled in new panda firmware and updated boardd to support the changes.	2017-07-11 21:45:16 -07:00
George Hotz	e4aa959e2c	Merge pull request #113 from pjlao307/update-alert-text Update alert text	2017-07-07 10:25:59 -07:00
Joey Lao	2aa9a56f40	Update steering controls saturated message	2017-07-06 22:36:55 -07:00
pjlao307	721ed4ec0e	Merge pull request #2 from commaai/release Release	2017-07-03 11:15:42 -07:00
George Hotz	70be4ceab1	Merge pull request #109 from commaai/devel openpilot 0.3.3	2017-06-30 18:23:10 -07:00
Vehicle Researcher	5cf91d0496	openpilot v0.3.3 release	2017-06-28 13:57:09 -07:00
George Hotz	6fee0bdb2d	Merge pull request #102 from energee/devel-crv Bounty: 2016 Honda CR-V Touring	2017-06-22 11:52:38 -07:00
Ted Slesinski	e40c161125	Addresses brake error review comment	2017-06-20 02:51:58 -04:00
Ted Slesinski	97eb55cc55	Fixes global saturation change	2017-06-20 02:47:47 -04:00
Ted Slesinski	65134be0d1	Adds correct value of 8 to gearshifter check array	2017-06-20 02:46:59 -04:00
Ted Slesinski	dbf71a23aa	Init crv variable	2017-06-20 02:26:50 -04:00
George Hotz	7fec3db1d6	Merge pull request #103 from pjlao307/pjlao-update-ui Update UI to make text more readable in all conditions as requested by community	2017-06-19 20:37:37 -07:00
Joey Lao	26b573c1d0	Make lead car text a little brighter	2017-06-12 16:39:10 -07:00
Vehicle Researcher	5ec1e7307e	Revert last commit since KPH can get 3 digits long	2017-06-12 09:30:47 -07:00
Vehicle Researcher	8bc36b7f21	Adjust position of left speed to align with label (based on 2 digit speeds)	2017-06-12 09:03:49 -07:00
Vehicle Researcher	3b909eb693	More code cleanup	2017-06-12 08:41:11 -07:00
Vehicle Researcher	57e39c4472	Use color param in ui_draw_rounded_rect instead of hard coding	2017-06-12 08:27:57 -07:00
Vehicle Researcher	ff7672339c	Add background to radar text. Code cleanup.	2017-06-12 08:19:47 -07:00
John Jones	6e824a2c22	missed one update in latcontrol	2017-06-11 21:33:44 -04:00
Vehicle Researcher	32fa49e093	Clean up code	2017-06-11 15:18:39 -07:00
Vehicle Researcher	2250eac58f	Remove commented line	2017-06-11 15:16:46 -07:00
Vehicle Researcher	97be6b3a0e	Update UI to make speed text more readable in all conditions as requested by community	2017-06-11 15:12:50 -07:00
John Jones	942655c947	adding steering change from video and removing integer div and adding ki/kp changes	2017-06-11 13:20:19 -04:00
Ted Slesinski	615db3f7fd	Reverting steering to original value	2017-06-08 13:15:30 -04:00
Ted Slesinski	0bb75c5389	Syntax typo	2017-06-08 02:33:31 -04:00
Ted Slesinski	7b5ee81d2d	Adds support for 2016 Honda CR-V Touring	2017-06-08 01:37:39 -04:00
Vehicle Researcher	7fe46f1e1d	openpilot v0.3.2 release	2017-05-22 22:26:12 -07:00
George Hotz	50c0d1c9da	Merge pull request #82 from energee/devel DBC file for 2017 Honda CR-V	2017-05-22 09:00:44 -07:00
Ted Slesinski	6dbf544d06	Adds 2017 CR-V dbc file	2017-05-21 19:46:34 -04:00