openpilot v0.4.4 release

Merge opendbc subtree
Squashed 'opendbc/' changes from a73f4e8..3d8a815
2026-06-12 06:54:12 +08:00 · 2018-04-14 06:10:58 +00:00 · 2018-04-14 06:06:43 +00:00 · 2018-04-14 06:06:43 +00:00 · 2018-04-14 06:06:42 +00:00 · 2018-04-14 06:06:42 +00:00
221 changed files with 11696 additions and 4560 deletions
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -0,0 +1,18 @@
+# How to contribute
+
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
+
+Most open source development activity is coordinated through our [slack](https://slack.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+
+## Getting Started
+
+ * Join our slack [slack.comma.ai](https://slack.comma.ai)
+ * Make sure you have a [GitHub account](https://github.com/signup/free)
+ * Fork the repository on GitHub
+
+## Car Ports (openpilot)
+
+We've released a guide for porting to Toyota cars [here](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6)
+
+If you port openpilot to a substantially new car, you might be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+
--- a/LICENSE.openpilot
+++ b/LICENSE.openpilot
@@ -1,4 +1,4 @@
-Copyright (c) 2016, Comma.ai, Inc.
+Copyright (c) 2018, 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:

--- a/README.md
+++ b/README.md
@@ -12,7 +12,7 @@ Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://ww
 Hardware
 ------

-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.
+Right now openpilot supports 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.

@@ -22,7 +22,7 @@ Supported Cars
 - Acura ILX 2016 with AcuraWatch Plus
  - Due to use of the cruise control for gas, it can only be enabled above 25 mph

- Honda Civic 2016-2017 with Honda Sensing
+- Honda Civic 2016-2018 with Honda Sensing
  - Due to limitations in steering firmware, steering is disabled below 12 mph
  - Note that the hatchback model is not supported

@@ -35,6 +35,12 @@ Supported Cars
 - Acura RDX 2018 with AcuraWatch Plus (alpha!)
  - Can only be enabled above 25 mph

+- Honda Pilot 2017 with Honda Sensing (alpha!)
+  - Can only be enabled above 27 mph
+
+- Honda Ridgeline 2017 with Honda Sensing (alpha!)
+  - Can only be enabled above 27 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
@@ -72,8 +78,6 @@ Community WIP Cars

 - [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
 ------

--- a/README_chffrplus.md
+++ b/README_chffrplus.md
@@ -0,0 +1,36 @@
+Welcome to chffrplus
+======
+
+[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
+
+This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
+
+It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
+
+
+Hardware
+------
+
+Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
+
+Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
+
+
+User Data / chffr Account / Crash Reporting
+------
+
+By default chffrplus creates an account and includes a client for chffr, our dashcam app.
+
+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.
+
+By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+
+
+Licensing
+------
+
+chffrplus is released under the MIT license.
+
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,40 @@
+Version 0.4.4 (2018-04-13)
+==========================
+ * EON are flipped! Flip your EON's mount!
+ * Alpha Honda Ridgeline support thanks to energee!
+ * Support optional front camera recording
+ * Upload over cellular toggle now applies to all files, not just video
+ * Increase acceleration when closing lead gap
+ * User now prompted for future updates
+ * NEO no longer supported :(
+
+Version 0.4.3.2 (2018-03-29)
+============================
+ * Improve autofocus
+ * Improve driving when only one lane line is detected
+ * Added fingerprint for Toyota Corolla LE
+ * Fixed Toyota Corolla steer error
+ * Full-screen driving UI
+ * Improved path drawing
+
+Version 0.4.3.1 (2018-03-19)
+============================
+ * Improve autofocus
+ * Add check for MPC solution error
+ * Make first distracted warning visual only
+
+Version 0.4.3 (2018-03-13)
+==========================
+ * Add HDR and autofocus
+ * Update UI aesthetic
+ * Grey panda works in Waze
+ * Add alpha support for 2017 Honda Pilot
+ * Slight increase in acceleration response from stop
+ * Switch CAN sending to use CANPacker
+ * Fix pulsing acceleration regression on Honda
+ * Fix openpilot bugs when stock system is in use
+ * Change starting logic for chffrplus to use battery voltage
+
 Version 0.4.2 (2018-02-05)
 ==========================
 * Add alpha support for 2017 Lexus RX Hybrid
--- 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/external/com.waze.apkpatch
+++ b/apk/external/com.waze.apkpatch
--- a/apk/external/patcher.py
+++ b/apk/external/patcher.py
@@ -24,7 +24,7 @@ APKS = {
    'src': 'https://apkcache.s3.amazonaws.com/com.waze_1021278.apk',
    'src_sha256': 'f00957e93e2389f9e30502ac54994b98ac769314b0963c263d4e8baa625ab0c2',
    'patch': 'com.waze.apkpatch',
-    'out_sha256': '9ec8b0ea3c78c666342865b1bfb66e368a3f5c911df2ad12835206ec8b19f444'
+    'out_sha256': 'fee880a91a44c738442cd05fd1b6d9b5817cbf755aa61c86325ada2bc443d5cf'
  },
  'com.spotify.music': {
    'src': 'https://apkcache.s3.amazonaws.com/com.spotify.music_24382006.apk',
--- a/cereal/Makefile
+++ b/cereal/Makefile
@@ -1,14 +1,14 @@
 PWD := $(shell pwd)

-SRCS := log.capnp car.capnp
+SRCS := log.capnp car.capnp mapd.capnp

-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ gen/cpp/mapd.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
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/mapd.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h

 # Dont build java on the phone...
 ifeq ($(UNAME_M),x86_64)
--- a/cereal/init.py
+++ b/cereal/init.py
@@ -4,17 +4,6 @@ import capnp
 CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 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"))
+log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+mapd = capnp.load(os.path.join(CEREAL_PATH, "mapd.capnp"))
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -54,6 +54,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    parkBrake @29;
    manualRestart @30;
    lowSpeedLockout @31;
+    plannerError @32;
+    ipasOverride @33;
+    debugAlert @34;
  }
 }

@@ -191,6 +194,7 @@ struct RadarState {
 struct CarControl {
  # must be true for any actuator commands to work
  enabled @0 :Bool;
+  active @7 :Bool;

  gasDEPRECATED @1 :Float32;
  brakeDEPRECATED @2 :Float32;
@@ -207,6 +211,7 @@ struct CarControl {
    brake @1: Float32;
    # range from -1.0 - 1.0
    steer @2: Float32;
+    steerAngle @3: Float32;
  }

  struct CruiseControl {
@@ -286,6 +291,8 @@ struct CarParams {
    honda @1;
    toyota @2;
    elm327 @3;
+    gm @4;
+    hondaBosch @5;
  }

  # things about the car in the manual
@@ -301,8 +308,12 @@ struct CarParams {
  tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff

  # Kp and Ki for the lateral control
-  steerKp @15 :Float32;
-  steerKi @16 :Float32;
+  steerKpBP @42 :List(Float32);
+  steerKpV @43 :List(Float32);
+  steerKiBP @44 :List(Float32);
+  steerKiV @45 :List(Float32);
+  steerKpDEPRECATED @15 :Float32;
+  steerKiDEPRECATED @16 :Float32;
  steerKf @25 :Float32;

  # Kp and Ki for the longitudinal control
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -117,6 +117,10 @@ struct FrameData {
  frameLength @3 :Int32;
  integLines @4 :Int32;
  globalGain @5 :Int32;
+  lensPos @11 :Int32;
+  lensSag @12 :Float32;
+  lensErr @13 :Float32;
+  lensTruePos @14 :Float32;
  image @6 :Data;

  frameType @7 :FrameType;
@@ -481,6 +485,7 @@ struct EncodeIndex {
    bigBoxHEVC @2;       # bcamera.hevc
    chffrAndroidH264 @3; # acamera
    fullLosslessClip @4; # prcamera.mkv
+    front @5;            # dcamera.hevc
  }
 }

@@ -515,6 +520,7 @@ struct Plan {
  aCruise @17 :Float32;
  vTarget @3 :Float32;
  vTargetFuture @14 :Float32;
+  vMax @20 :Float32;
  aTargetMinDEPRECATED @4 :Float32;
  aTargetMaxDEPRECATED @5 :Float32;
  aTarget @18 :Float32;
@@ -537,6 +543,7 @@ struct Plan {
    cruise @0;
    mpc1 @1;
    mpc2 @2;
+    mpc3 @3;
  }
 }

@@ -576,12 +583,14 @@ struct LiveLocationData {
  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);
+  pitchCalibration @20 :Float32;
+  yawCalibration @21 :Float32;

  struct Accuracy {
    pNEDError @0 :List(Float32);
@@ -599,6 +608,7 @@ struct LiveLocationData {
    kalman @1;
    orbslam @2;
    timing @3;
+    dummy @4;
  }
 }

@@ -1283,6 +1293,11 @@ struct UbloxGnss {
    fitInterval @35 :Float64;

    toc @36 :Float64;
+
+    ionoCoeffsValid @37 :Bool;
+    ionoAlpha @38 :List(Float64);
+    ionoBeta @39 :List(Float64);
+
  }

  struct IonoData {
@@ -1314,6 +1329,7 @@ struct LiveMpcData {
  delta @3 :List(Float32);
  qpIterations @4 :UInt32;
  calculationTime @5 :UInt64;
+  cost @6 :Float64;
 }

 struct LiveLongitudinalMpcData {
@@ -1327,21 +1343,31 @@ struct LiveLongitudinalMpcData {
  qpIterations @7 :UInt32;
  mpcId @8 :UInt32;
  calculationTime @9 :UInt64;
+  cost @10 :Float64;
 }


-struct ECEFPoint {
+struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
  x @0 :Float32;
  y @1 :Float32;
  z @2 :Float32;
 }

+struct ECEFPoint @0xc25bbbd524983447 {
+  x @0 :Float64;
+  y @1 :Float64;
+  z @2 :Float64;
+}
+
 struct GPSPlannerPoints {
-  curPos @0 :ECEFPoint;
-  points @1 :List(ECEFPoint);
+  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
+  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
+  curPos @6 :ECEFPoint;
+  points @7 :List(ECEFPoint);
  valid @2 :Bool;
  trackName @3 :Text;
-  instructionProgress @4 :Float32;
+  speedLimit @4 :Float32;
+  accelTarget @5 :Float32;
 }

 struct GPSPlannerPlan {
@@ -1349,22 +1375,31 @@ struct GPSPlannerPlan {
  poly @1 :List(Float32);
  trackName @2 :Text;
  speed @3 :Float32;
+  acceleration @4 :Float32;
+  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
+  points @6 :List(ECEFPoint);
+  xLookahead @7 :Float32;
 }

-struct TrafficSigns {
+struct TrafficEvent @0xacfa74a094e62626 {
  type @0 :Type;
  distance @1 :Float32;
  action @2 :Action;
  resuming @3 :Bool;

  enum Type {
-    light @0;
+    stopSign @0;
+    lightRed @1;
+    lightYellow @2;
+    lightGreen @3;
+    stopLight @4;
  }

  enum Action {
    none @0;
    yield @1;
    stop @2;
+    resumeReady @3;
  }

 }
@@ -1378,6 +1413,103 @@ struct OrbslamCorrection {
  numInliers @5 :UInt32;
 }

+struct OrbObservation {
+  observationMonoTime @0 :UInt64;
+  normalizedCoordinates @1 :List(Float32);
+  locationECEF @2 :List(Float64);
+  matchDistance @3: UInt32;
+}
+
+struct UiNavigationEvent {
+  type @0: Type;
+  status @1: Status;
+  distanceTo @2: Float32;
+  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
+  endRoadPoint @4: ECEFPoint;
+
+  enum Type {
+    none @0;
+    laneChangeLeft @1;
+    laneChangeRight @2;
+    mergeLeft @3;
+    mergeRight @4;
+    turnLeft @5;
+    turnRight @6;
+  }
+
+  enum Status {
+    none @0;
+    passive @1;
+    approaching @2;
+    active @3;
+  }
+}
+
+struct UiLayoutState {
+  activeApp @0 :App;
+  sidebarCollapsed @1 :Bool;
+  mapEnabled @2 :Bool;
+
+  enum App {
+    home @0;
+    music @1;
+    nav @2;
+  }
+}
+
+struct Joystick {
+  # convenient for debug and live tuning
+  axes @0: List(Float32);
+  buttons @1: List(Bool);
+}
+
+struct OrbOdometry {
+  # timing first
+  startMonoTime @0 :UInt64;
+  endMonoTime @1 :UInt64;
+
+  # fundamental matrix and error
+  f @2: List(Float64);
+  err @3: Float64;
+
+  # number of inlier points
+  inliers @4: Int32;
+
+  # for debug only
+  # indexed by endMonoTime features
+  # value is startMonoTime feature match
+  # -1 if no match
+  matches @5: List(Int16);
+}
+
+struct OrbFeatures {
+  timestampEof @0 :UInt64;
+  # transposed arrays of normalized image coordinates
+  # len(xs) == len(ys) == len(descriptors) * 32
+  xs @1 :List(Float32);
+  ys @2 :List(Float32);
+  descriptors @3 :Data;
+  octaves @4 :List(Int8);
+
+  # match index to last OrbFeatures
+  # -1 if no match
+  timestampLastEof @5 :UInt64;
+  matches @6: List(Int16);
+}
+
+struct OrbKeyFrame {
+  # this is a globally unique id for the KeyFrame
+  id @0: UInt64;
+
+  # this is the location of the KeyFrame
+  pos @1: ECEFPoint;
+
+  # these are the features in the world
+  # len(dpos) == len(descriptors) * 32
+  dpos @2 :List(ECEFPoint);
+  descriptors @3 :Data;
+}
+
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
@@ -1425,9 +1557,20 @@ struct Event {
    gpsPlannerPoints @40 :GPSPlannerPoints;
    gpsPlannerPlan @41 :GPSPlannerPlan;
    applanixRaw @42 :Data;
-    trafficSigns @43 :List(TrafficSigns);
+    trafficEvents @43 :List(TrafficEvent);
    liveLocationTiming @44 :LiveLocationData;
-    orbslamCorrection @45 :OrbslamCorrection;
+    orbslamCorrectionDEPRECATED @45 :OrbslamCorrection;
    liveLocationCorrected @46 :LiveLocationData;
+    orbObservation @47 :List(OrbObservation);
+    gpsLocationExternal @48 :GpsLocationData;
+    location @49 :LiveLocationData;
+    uiNavigationEvent @50 :UiNavigationEvent;
+    liveLocationKalman @51 :LiveLocationData;
+    testJoystick @52 :Joystick;
+    orbOdometry @53 :OrbOdometry;
+    orbFeatures @54 :OrbFeatures;
+    applanixLocation @55 :LiveLocationData;
+    orbKeyFrame @56 :OrbKeyFrame;
+    uiLayoutState @57 :UiLayoutState;
  }
 }
--- a/cereal/mapd.capnp
+++ b/cereal/mapd.capnp
@@ -0,0 +1,18 @@
+using Cxx = import "c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Map");
+
+using Log = import "log.capnp";
+
+@0xe1a6ab330ea7205f;
+
+struct MapdRequest {
+  pos @0 :Log.ECEFPoint;
+}
+
+struct MapdResponse {
+  kfs @0 :List(Log.OrbKeyFrame);
+}
--- a/common/dbc.py
+++ b/common/dbc.py
@@ -25,9 +25,9 @@ class dbc(object):
    self._warned_addresses = set()

    # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
-    bo_regexp = re.compile("^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
-    sg_regexp = re.compile("^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-    sgm_regexp = re.compile("^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
+    sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")

    # A dictionary which maps message ids to tuples ((name, size), signals).
    #   name is the ASCII name of the message.
--- a/common/fingerprints.py
+++ b/common/fingerprints.py
@@ -4,6 +4,8 @@ class HONDA:
  CRV = "HONDA CR-V 2016 TOURING"
  ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
  ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
+  PILOT = "HONDA PILOT 2017 TOURING"
+  RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"


 class TOYOTA:
@@ -13,35 +15,49 @@ class TOYOTA:
  COROLLA = "TOYOTA COROLLA 2017"
  LEXUS_RXH = "LEXUS RX HYBRID 2017"

+class GM:
+  VOLT = "CHEVROLET VOLT PREMIER 2017"
+
+_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes

 _FINGERPRINTS = {
-  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,
+  HONDA.ACURA_ILX: [{
+    1024L: 5, 513L: 6, 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.ACURA_RDX: {
+    0xe4: 5, 0x1fa: 8, 0x200: 6, 0x30c: 8, 0x33d: 5,
+  }],
+  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,
+  }],
+  HONDA.CIVIC: [{
+    1024L: 5, 513L: 6, 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.CRV: {
+    0xe4: 5, 0x1fa: 8, 0x200: 6, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
+  }],
+  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: {
+  }],
+  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: {
+  # Odyssey Elite
+  {
+    57L: 3, 148L: 8, 228L: 5, 229L: 4, 304L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 440L: 8, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 507L: 1, 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, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
+  }],
+  HONDA.PILOT: [{
+    1600L: 5, 1027L: 5, 1668L: 5, 1029L: 8, 1601L: 8, 777L: 8, 891L: 8, 1036L: 8, 399L: 7, 1424L: 5, 145L: 8, 660L: 8, 985L: 3, 1616L: 5, 538L: 3, 795L: 8, 542L: 7, 773L: 7, 800L: 8, 545L: 5, 546L: 3, 419L: 8, 420L: 8, 422L: 8, 1064L: 7, 425L: 8, 426L: 8, 427L: 3, 432L: 7, 819L: 7, 308L: 5, 821L: 5, 57L: 3, 965L: 8, 316L: 8, 829L: 5, 1088L: 8, 1089L: 8, 963L: 8, 837L: 5, 966L: 8, 929L: 8, 780L: 8, 923L: 2, 1613L: 5, 334L: 8, 463L: 8, 464L: 8, 1618L: 5, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 856L: 7, 804L: 8, 1612L: 5, 476L: 4, 1125L: 8, 344L: 8, 1296L: 8, 379L: 8, 228L: 5, 229L: 4, 871L: 8, 892L: 8, 490L: 8, 808L: 8, 882L: 2, 884L: 7, 967L: 8, 506L: 8, 507L: 1, 380L: 8,
+  }],
+  HONDA.RIDGELINE: [{
+    57L: 3, 145L: 8, 228L: 5, 229L: 4, 308L: 5, 316L: 8, 339L: 7, 342L: 6, 344L: 8, 380L: 8, 392L: 6, 399L: 7, 419L: 8, 420L: 8, 422L: 8, 425L: 8, 426L: 8, 427L: 3, 432L: 7, 464L: 8, 471L: 3, 476L: 4, 490L: 8, 506L: 8, 545L: 5, 546L: 3, 597L: 8, 660L: 8, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 808L: 8, 819L: 7, 821L: 5, 829L: 5, 871L: 8, 882L: 2, 884L: 7, 892L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1027L: 5, 1029L: 8, 1036L: 8, 1039L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8, 1613L: 5, 1616L: 5, 1618L: 5, 1668L: 5, 2015L: 3
+  }],
+  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.RAV4H: [{
+    36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 296L: 8, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 4, 581L: 5, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 713L: 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, 950L: 8, 951L: 8, 953L: 3, 955L: 8, 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, 1184L: 8, 1185L: 8, 1186L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1197L: 8, 1198L: 8, 1199L: 8, 1212L: 8, 1227L: 8, 1228L: 8, 1232L: 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.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
  },
@@ -52,14 +68,20 @@ _FINGERPRINTS = {
  # 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: {
+  }],
+  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: {
+  # Corolla LE 2017
+  {
+    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, 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, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 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
-  },
+  }],
+  GM.VOLT: [{
+    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  }],
 }

 # support additional internal only fingerprints
@@ -88,10 +110,10 @@ def eliminate_incompatible_cars(msg, candidate_cars):
  compatible_cars = []
  for car_name in candidate_cars:
    car_fingerprints = _FINGERPRINTS[car_name]
-    if not isinstance(car_fingerprints, list):
-      car_fingerprints = [car_fingerprints]

    for fingerprint in car_fingerprints:
+      fingerprint.update(_DEBUG_ADDRESS)  # add alien debug address
+
      if is_valid_for_fingerprint(msg, fingerprint):
        compatible_cars.append(car_name)
        break
--- a/common/kalman/ekf.py
+++ b/common/kalman/ekf.py
@@ -1,3 +1,4 @@
+# pylint: skip-file
 import abc
 import numpy as np
 # The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
--- a/common/params.py
+++ b/common/params.py
@@ -72,6 +72,10 @@ keys = {

  "Passive": TxType.PERSISTANT,
  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
+  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
+  "IsUpdateAvailable": TxType.PERSISTANT,
+
+  "RecordFront": TxType.PERSISTANT,
 }

 def fsync_dir(path):
--- a/common/profiler.py
+++ b/common/profiler.py
@@ -6,7 +6,7 @@ class Profiler(object):
    self.cp = {}
    self.cp_ignored = []
    self.iter = 0
-    self.start_time = time.clock()
+    self.start_time = time.time()
    self.last_time = self.start_time
    self.tot = 0.

@@ -15,14 +15,14 @@ class Profiler(object):
    self.cp = {}
    self.cp_ignored = []
    self.iter = 0
-    self.start_time = time.clock()
+    self.start_time = time.time()
    self.last_time = self.start_time

  def checkpoint(self, name, ignore=False):
    # ignore flag needed when benchmarking threads with ratekeeper
    if not self.enabled:
      return
-    tt = time.clock()
+    tt = time.time()
    if name not in self.cp:
      self.cp[name] = 0.
      if ignore:
@@ -37,11 +37,10 @@ class Profiler(object):
      return
    self.iter += 1
    print "******* Profiling *******"
-    for n in self.cp:
-      ms = self.cp[n]
+    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
      if n in self.cp_ignored:
-        print "%30s: %7.2f   perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100), "  IGNORED"
+        print "%30s: %7.2f   percent: %3.0f" % (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 "%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100)
    print "Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot)

--- a/common/transformations/init.py
+++ b/common/transformations/init.py
--- a/common/transformations/coordinates.py
+++ b/common/transformations/coordinates.py
@@ -0,0 +1,106 @@
+import numpy as np
+"""
+Coordinate transformation module. All methods accept arrays as input
+with each row as a position.
+"""
+
+
+
+a = 6378137
+b = 6356752.3142
+esq = 6.69437999014 * 0.001
+e1sq = 6.73949674228 * 0.001
+
+
+def geodetic2ecef(geodetic):
+  geodetic = np.array(geodetic)
+  input_shape = geodetic.shape
+  geodetic = np.atleast_2d(geodetic)
+  lat = (np.pi/180)*geodetic[:,0]
+  lon = (np.pi/180)*geodetic[:,1]
+  alt = geodetic[:,2]
+
+  xi = np.sqrt(1 - esq * np.sin(lat)**2)
+  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
+  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
+  z = (a / xi * (1 - esq) + alt) * np.sin(lat)
+  ecef = np.array([x, y, z]).T
+  return ecef.reshape(input_shape)
+
+
+def ecef2geodetic(ecef):
+  """
+  Convert ECEF coordinates to geodetic using ferrari's method
+  """
+  def ferrari(x, y, z):
+    # ferrari's method
+    r = np.sqrt(x * x + y * y)
+    Esq = a * a - b * b
+    F = 54 * b * b * z * z
+    G = r * r + (1 - esq) * z * z - esq * Esq
+    C = (esq * esq * F * r * r) / (pow(G, 3))
+    S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
+    P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
+    Q = np.sqrt(1 + 2 * esq * esq * P)
+    r_0 =  -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
+          P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
+    U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
+    V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
+    Z_0 = b * b * z / (a * V)
+    h = U * (1 - b * b / (a * V))
+    lat = (180/np.pi)*np.arctan((z + e1sq * Z_0) / r)
+    lon = (180/np.pi)*np.arctan2(y, x)
+    return lat, lon, h
+
+  geodetic = []
+  ecef = np.array(ecef)
+  input_shape = ecef.shape
+  ecef = np.atleast_2d(ecef)
+  for p in ecef:
+    geodetic.append(ferrari(*p))
+  geodetic = np.array(geodetic)
+  return geodetic.reshape(input_shape)
+
+
+
+class LocalCoord(object):
+  """
+   Allows conversions to local frames. In this case NED.
+   That is: North East Down from the start position in
+   meters.
+  """
+  def __init__(self, init_geodetic, init_ecef):
+    self.init_ecef = init_ecef
+    lat, lon, _ = (np.pi/180)*init_geodetic
+    self.ned2ecef_matrix = np.array([[-np.sin(lat)*np.cos(lon), -np.sin(lon), -np.cos(lat)*np.cos(lon)],
+                                     [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
+                                     [np.cos(lat), 0, -np.sin(lat)]])
+    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+
+  @classmethod
+  def from_geodetic(cls, init_geodetic):
+    init_ecef = geodetic2ecef(init_geodetic)
+    return LocalCoord(init_geodetic, init_ecef)
+
+  @classmethod
+  def from_ecef(cls, init_ecef):
+    init_geodetic = ecef2geodetic(init_ecef)
+    return LocalCoord(init_geodetic, init_ecef)
+
+
+  def ecef2ned(self, ecef):
+    ecef = np.array(ecef)
+    return np.dot(self.ecef2ned_matrix, (ecef - self.init_ecef).T).T
+
+  def ned2ecef(self, ned):
+    ned = np.array(ned)
+    # Transpose so that init_ecef will broadcast correctly for 1d or 2d ned.
+    return (np.dot(self.ned2ecef_matrix, ned.T).T + self.init_ecef)
+
+  def geodetic2ned(self, geodetic):
+    ecef = geodetic2ecef(geodetic)
+    return self.ecef2ned(ecef)
+
+  def ned2geodetic(self, ned):
+    ecef = self.ned2ecef(ned)
+    return ecef2geodetic(ecef)
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -0,0 +1,47 @@
+#!/usr/bin/bash
+
+if [ -z "$PASSIVE" ]; then
+  export PASSIVE="1"
+fi
+
+function launch {
+  DO_UPDATE=$(cat /data/params/d/ShouldDoUpdate)
+  # apply update
+  if [ "$DO_UPDATE" == "1" ] && [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+     git reset --hard @{u} &&
+     git clean -xdf &&
+     exec "${BASH_SOURCE[0]}"
+     echo -n 0 > /data/params/d/ShouldDoUpdate
+     echo -n 0 > /data/params/d/IsUpdateAvailable
+  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
+
+  # check if NEOS update is required
+  while [ "$(cat /VERSION)" -lt 4 ] && [ ! -e /data/media/0/noupdate ]; do
+    # wait for network
+    (cd selfdrive/ui/spinner && exec ./spinner 'waiting for network...') & spin_pid=$!
+    until ping -W 1 -c 1 8.8.8.8; do sleep 1; done
+    kill $spin_pid
+
+    # update NEOS
+    curl -o /tmp/updater https://neos.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater
+    sleep 10
+  done
+
+  export PYTHONPATH="$PWD"
+
+  # start manager
+  cd selfdrive
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,39 +1,5 @@
 #!/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
+export PASSIVE="0"
+exec ./launch_chffrplus.sh

-  # 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/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -1,4 +1,24 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
 CM_ "Imported file _honda_2017.dbc starts here"
 VERSION ""

@@ -36,9 +56,9 @@ NS_ :
 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_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" 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
@@ -77,7 +97,7 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 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_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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
@@ -96,17 +116,6 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 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
@@ -135,9 +144,8 @@ BO_ 777 LOCK_STATUS: 8 XXX
 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_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
 SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
 SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
@@ -154,6 +162,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -169,6 +179,7 @@ BO_ 804 CRUISE: 8 PCM

 BO_ 829 LKAS_HUD: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
 SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
@@ -217,6 +228,8 @@ 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

--- a/opendbc/acura_ilx_2016_nidec.dbc
+++ b/opendbc/acura_ilx_2016_nidec.dbc
@@ -1,185 +1,185 @@
-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_: ADAS RADAR NEO XXX
-
-
-BO_ 768 VEHICLE_STATE: 8 ADAS
- SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX
- SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX
-
-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 RADAR_DIAGNOSTIC: 8 RADAR
- SG_ RADAR_STATE : 7|8@0+ (1,0) [0|255] "" NEO
-
-BO_ 1040 XXX_101: 8 RADAR
-
-BO_ 1041 XXX_102: 8 RADAR
-
-BO_ 1042 XXX_103: 8 RADAR
-
-BO_ 1043 XXX_104: 8 RADAR
-
-BO_ 1044 XXX_105: 8 RADAR
-
-BO_ 1045 XXX_106: 8 RADAR
-
-BO_ 1046 XXX_107: 8 RADAR
-
-BO_ 1047 XXX_108: 8 RADAR
-
-BO_ 1056 XXX_109: 8 RADAR
-
-BO_ 1057 XXX_110: 8 RADAR
-
-BO_ 1058 XXX_111: 8 RADAR
-
-BO_ 1059 XXX_112: 8 RADAR
-
-BO_ 1060 XXX_113: 8 RADAR
-
-BO_ 1072 TRACK_0: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1073 TRACK_1: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1074 TRACK_2: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1075 TRACK_3: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1076 TRACK_4: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1077 TRACK_5: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1078 TRACK_6: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1079 TRACK_7: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1080 TRACK_8: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1081 TRACK_9: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1088 TRACK_10: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1089 TRACK_11: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1090 TRACK_12: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1091 TRACK_13: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1092 TRACK_14: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1093 TRACK_15: 8 RADAR
- SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
- SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
- SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
- SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
-
-BO_ 1279 XXX_114: 8 RADAR
-
-BO_ 1280 XXX_115: 8 RADAR
-
-BO_ 1296 XXX_116: 8 RADAR
-
-BO_ 1297 XXX_117: 8 RADAR
-
-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";
+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_: ADAS RADAR NEO XXX
+
+
+BO_ 768 VEHICLE_STATE: 8 ADAS
+ SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX
+
+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 RADAR_DIAGNOSTIC: 8 RADAR
+ SG_ RADAR_STATE : 7|8@0+ (1,0) [0|255] "" NEO
+
+BO_ 1040 XXX_101: 8 RADAR
+
+BO_ 1041 XXX_102: 8 RADAR
+
+BO_ 1042 XXX_103: 8 RADAR
+
+BO_ 1043 XXX_104: 8 RADAR
+
+BO_ 1044 XXX_105: 8 RADAR
+
+BO_ 1045 XXX_106: 8 RADAR
+
+BO_ 1046 XXX_107: 8 RADAR
+
+BO_ 1047 XXX_108: 8 RADAR
+
+BO_ 1056 XXX_109: 8 RADAR
+
+BO_ 1057 XXX_110: 8 RADAR
+
+BO_ 1058 XXX_111: 8 RADAR
+
+BO_ 1059 XXX_112: 8 RADAR
+
+BO_ 1060 XXX_113: 8 RADAR
+
+BO_ 1072 TRACK_0: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1073 TRACK_1: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1074 TRACK_2: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1075 TRACK_3: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1076 TRACK_4: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1077 TRACK_5: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1078 TRACK_6: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1079 TRACK_7: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1080 TRACK_8: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1081 TRACK_9: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1088 TRACK_10: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1089 TRACK_11: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1090 TRACK_12: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1091 TRACK_13: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1092 TRACK_14: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1093 TRACK_15: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m"  NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] ""  NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m"  NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s"  NEO
+
+BO_ 1279 XXX_114: 8 RADAR
+
+BO_ 1280 XXX_115: 8 RADAR
+
+BO_ 1296 XXX_116: 8 RADAR
+
+BO_ 1297 XXX_117: 8 RADAR
+
+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
@@ -1,4 +1,6 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
 CM_ "Imported file _honda_2017.dbc starts here"
 VERSION ""

@@ -36,9 +38,9 @@ NS_ :
 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_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" 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
@@ -77,7 +79,7 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 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_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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
@@ -96,17 +98,6 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 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
@@ -135,9 +126,8 @@ BO_ 777 LOCK_STATUS: 8 XXX
 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_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
 SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
 SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
@@ -154,6 +144,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -169,6 +161,7 @@ BO_ 804 CRUISE: 8 PCM

 BO_ 829 LKAS_HUD: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
 SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
@@ -217,6 +210,7 @@ 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
--- a/opendbc/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc
@@ -0,0 +1,107 @@
+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_ 258 STEERING: 8 XXX
+ SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
+ SG_ STEERING_RATE : 20|13@0+ (1,-4096) [0|8191] "" XXX
+
+BO_ 514 SPEED: 4 XXX
+ SG_ SPEED_LEFT : 7|16@0+ (0.07,0) [0|65535] "m/s" XXX
+ SG_ SPEED_RIGHT : 23|16@0+ (0.07,0) [0|1023] "m/s" XXX
+
+BO_ 653 BRAKE_MODULE: 2 XXX
+ SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|4] "" XXX
+
+BO_ 820 DOORS: 8 XXX
+ SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_DISPLAY : 58|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 746 GEAR: 5 XXX
+ SG_ PRNDL : 0|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 284 NEW_MSG_1: 8 XXX
+ SG_ BRAKE_RELATED : 3|12@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_RELATED_2 : 17|10@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 37|14@0+ (1,0) [0|255] "" XXX
+
+BO_ 320 NEW_MSG_2: 8 XXX
+ SG_ SPEED_RELATED : 47|8@0+ (1,0) [0|63] "" XXX
+ SG_ BRAKE_PRESSED : 2|3@0+ (1,0) [0|7] "" XXX
+
+BO_ 736 TRIP: 8 XXX
+ SG_ DISTANCE_COUNTER : 7|16@0+ (0,0) [0|65535] "Meters" XXX
+ SG_ DISTANCE_COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
+
+BO_ 344 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FL : 1|10@0+ (1,0) [0|65535] "" XXX
+ SG_ WHEEL_SPEED_FR : 17|10@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_SPEED_RL : 33|10@0+ (1,0) [0|3] "" XXX
+ SG_ WHEEL_SPEED_RR : 49|10@0+ (1,0) [0|255] "" XXX
+
+BO_ 792 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAM_PUSHED_IN : 2|1@1+ (1,0) [0|3] "" XXX
+ SG_ HIGH_BEAM_FLASH : 3|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
+ SG_ ACCEL_PEDAL : 32|4@1+ (1,-7) [0|15] "" XXX
+
+
+
+
+CM_ SG_ 258 STEER_ANGLE "positive is left (counter-clockwise)";
+CM_ SG_ 514 SPEED_LEFT "TODO find upper limit";
+CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
+CM_ SG_ 820 TURN_LIGHT_LEFT "oscillates with the light blinking";
+CM_ SG_ 820 TURN_LIGHT_RIGHT "hazard blinks both right and left lights";
+CM_ SG_ 746 PRNDL "4=D, 3=N, 2=R, 1=P";
+CM_ SG_ 284 BRAKE_RELATED "Correlates with braking";
+CM_ SG_ 284 SPEED "Another Speed Signal, Maybe RPMs?";
+CM_ SG_ 320 BRAKE_PRESSED "Value is 5 when brake is pressed";
+CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right";
+CM_ SG_ 792 HIGH_BEAM_FLASH "use this for genericToggle";
+CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed";
+VAL_ 746 PRNDL 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
+VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
--- a/opendbc/generator/generator.py
+++ b/opendbc/generator/generator.py
@@ -17,14 +17,16 @@ for dir_name, _, _ in os.walk(cur_path):

        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)
+        dbc_file = '\nCM_ "%s starts here"\n' % filename + dbc_file
+
+        includes = re.finditer(r'CM_ "IMPORT (.*?)"', dbc_file)
+        for include in includes:
+            dbc_file = dbc_file.replace(include.group(0), '')
            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
+            include_file = '\n\nCM_ "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
--- a/opendbc/generator/honda/_bosch_2018.dbc
+++ b/opendbc/generator/honda/_bosch_2018.dbc
@@ -0,0 +1,268 @@
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ 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|15] "" 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_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|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_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_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" 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_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ 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_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
--- a/opendbc/generator/honda/_comma.dbc
+++ b/opendbc/generator/honda/_comma.dbc
@@ -0,0 +1,15 @@
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
--- a/opendbc/generator/honda/_honda_2017.dbc
+++ b/opendbc/generator/honda/_honda_2017.dbc
@@ -34,9 +34,9 @@ NS_ :
 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_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" 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
@@ -75,7 +75,7 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 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_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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
@@ -94,17 +94,6 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 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
@@ -133,9 +122,8 @@ BO_ 777 LOCK_STATUS: 8 XXX
 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_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
 SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
 SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
@@ -152,6 +140,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -167,6 +157,7 @@ BO_ 804 CRUISE: 8 PCM

 BO_ 829 LKAS_HUD: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
 SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
--- a/opendbc/generator/honda/acura_ilx_2016_can.dbc
+++ b/opendbc/generator/honda/acura_ilx_2016_can.dbc
@@ -1,4 +1,5 @@
 CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.dbc"

 BO_ 145 KINEMATICS: 8 XXX
 SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
--- a/opendbc/generator/honda/honda_accord_s2t_2018_can.dbc
+++ b/opendbc/generator/honda/honda_accord_s2t_2018_can.dbc
@@ -0,0 +1,42 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+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_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|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_ 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_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc
+++ b/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc
@@ -0,0 +1,48 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
+ 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] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+VAL_ 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_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
+++ b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
@@ -1,142 +1,143 @@
-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";
+CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.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_ex_2017_can.dbc
+++ b/opendbc/generator/honda/honda_crv_ex_2017_can.dbc
@@ -0,0 +1,59 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
+ 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] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|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_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+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_ 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";
+
+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_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
+++ b/opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
@@ -0,0 +1,61 @@
+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_ 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
@@ -71,10 +71,11 @@ BO_ 560 BRAKE_MODULE2: 7 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_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
 SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@@ -95,6 +96,11 @@ BO_ 742 LEAD_INFO: 8 DSU

 BO_ 835 ACC_CONTROL: 8 DSU
 SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@@ -121,17 +127,25 @@ BO_ 951 ESP_CONTROL: 8 ESP

 BO_ 1041 ACC_HUD: 8 DSU
 SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX

 BO_ 1042 LKAS_HUD: 8 XXX
 SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
 SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
 SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
 SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
--- a/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
@@ -1,4 +1,5 @@
 CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"

 BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
@@ -15,8 +16,9 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
@@ -25,6 +27,7 @@ BO_ 956 GEAR_PACKET: 8 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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc
@@ -0,0 +1,36 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/generator/toyota/toyota_chr_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_chr_2018_pt.dbc
@@ -0,0 +1,33 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.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_ 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: 8 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/generator/toyota/toyota_corolla_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_corolla_2017_pt.dbc
@@ -1,4 +1,5 @@
 CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"

 BO_ 548 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
@@ -15,8 +16,9 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
@@ -24,6 +26,7 @@ BO_ 956 GEAR_PACKET: 8 XXX

 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/generator/toyota/toyota_prius_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_prius_2017_pt.dbc
@@ -1,4 +1,5 @@
 CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"

 BO_ 295 GEAR_PACKET: 8 XXX
 SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
@@ -21,13 +22,19 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 1083 AUTOPARK_STATUS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" 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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero";
 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/generator/toyota/toyota_rav4_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_rav4_2017_pt.dbc
@@ -1,4 +1,5 @@
 CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"

 BO_ 548 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
@@ -15,8 +16,9 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
@@ -24,6 +26,7 @@ BO_ 956 GEAR_PACKET: 8 XXX

 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
@@ -1,4 +1,5 @@
 CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"

 BO_ 550 BRAKE_MODULE: 8 XXX
 SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
@@ -15,8 +16,9 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
@@ -25,6 +27,7 @@ BO_ 956 GEAR_PACKET: 8 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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/gm_global_a_chassis.dbc
+++ b/opendbc/gm_global_a_chassis.dbc
@@ -1,75 +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";
-
+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
@@ -1,110 +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" ;
-
+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 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "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|3@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 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_ 276127744 LKAGapButton 2 "???" 1 "??" 0 "None" ;
+
--- a/opendbc/gm_global_a_object.dbc
+++ b/opendbc/gm_global_a_object.dbc
@@ -1,255 +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" ;
-
+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
@@ -1,217 +1,233 @@
-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" ;
-
+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_ DistanceButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
+VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
+VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
+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_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCButtons : 46|3@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 BCMDoorBeltStatus: 8 K9_BCM
+ SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] ""  NEO
+ SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] ""  NEO
+ SG_ RightSeatBelt : 53|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_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
+ SG_ GasPedalAndAcc : 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+ (0.0311,0) [0|255] "km/h"  NEO
+ SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
+
+BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
+ SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
+ SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
+
+BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
+ SG_ BrakePedalPosition : 15|8@0+ (1,0) [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_ 417 AcceleratorPedal: 8 XXX
+ SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 451 GasAndAcc: 8 XXX
+ SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] ""  NEO
+
+BO_ 452 AcceleratorPedal2: 8 XXX
+ SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] ""  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";
+CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
+CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
+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 DistanceButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
+VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+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_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -0,0 +1,316 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ 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|15] "" 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_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|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_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_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" 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_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ 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_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ "honda_accord_s2t_2018_can.dbc starts here"
+
+
+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_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|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_ 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_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_accord_touring_2016_can.dbc
+++ b/opendbc/honda_accord_touring_2016_can.dbc
@@ -1,396 +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";
+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
@@ -1,459 +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_: 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_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -0,0 +1,322 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ 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|15] "" 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_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|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_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_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" 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_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ 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_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
+
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
+ 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] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+VAL_ 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_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -1,4 +1,24 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
 CM_ "Imported file _honda_2017.dbc starts here"
 VERSION ""

@@ -36,9 +56,9 @@ NS_ :
 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_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" 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
@@ -77,7 +97,7 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 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_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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
@@ -96,17 +116,6 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 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
@@ -135,9 +144,8 @@ BO_ 777 LOCK_STATUS: 8 XXX
 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_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
 SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
 SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
@@ -154,6 +162,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -169,6 +179,7 @@ BO_ 804 CRUISE: 8 PCM

 BO_ 829 LKAS_HUD: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
 SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
@@ -215,145 +226,147 @@ 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";
+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_crv_ex_2017_can.dbc
+++ b/opendbc/honda_crv_ex_2017_can.dbc
@@ -1,423 +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_: 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_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -0,0 +1,333 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ 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|15] "" 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_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|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_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_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" 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_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ 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_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ "honda_crv_ex_2017_can.dbc starts here"
+
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
+ 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] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|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_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+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_ 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";
+
+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_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -1,4 +1,6 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
 CM_ "Imported file _honda_2017.dbc starts here"
 VERSION ""

@@ -36,9 +38,9 @@ NS_ :
 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_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" 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
@@ -77,7 +79,7 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 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_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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
@@ -96,17 +98,6 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 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
@@ -135,9 +126,8 @@ BO_ 777 LOCK_STATUS: 8 XXX
 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_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
 SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
 SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
@@ -154,6 +144,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -169,6 +161,7 @@ BO_ 804 CRUISE: 8 PCM

 BO_ 829 LKAS_HUD: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
 SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
@@ -217,6 +210,7 @@ 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
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -1,4 +1,6 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
 CM_ "Imported file _honda_2017.dbc starts here"
 VERSION ""

@@ -36,9 +38,9 @@ NS_ :
 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_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" 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
@@ -77,7 +79,7 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 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_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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
@@ -96,17 +98,6 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 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
@@ -135,9 +126,8 @@ BO_ 777 LOCK_STATUS: 8 XXX
 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_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
 SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
 SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
@@ -154,6 +144,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -169,6 +161,7 @@ BO_ 804 CRUISE: 8 PCM

 BO_ 829 LKAS_HUD: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
 SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
@@ -217,6 +210,7 @@ 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
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -1,4 +1,6 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
 CM_ "Imported file _honda_2017.dbc starts here"
 VERSION ""

@@ -36,9 +38,9 @@ NS_ :
 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_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" 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
@@ -77,7 +79,7 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
 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_ COMPUTER_BRAKE : 7|10@0+ (1,0) [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
@@ -96,17 +98,6 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 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
@@ -135,9 +126,8 @@ BO_ 777 LOCK_STATUS: 8 XXX
 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_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
 SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
 SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
@@ -154,6 +144,8 @@ BO_ 780 ACC_HUD: 8 ADAS
 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_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -169,6 +161,7 @@ BO_ 804 CRUISE: 8 PCM

 BO_ 829 LKAS_HUD: 5 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
 SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
 SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
@@ -217,6 +210,7 @@ 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

--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -0,0 +1,272 @@
+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+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ 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+ (1,0) [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_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ 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_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_ridgeline_black_edition_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_ 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/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -1,4 +1,20 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+
 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""

@@ -73,10 +89,11 @@ BO_ 560 BRAKE_MODULE2: 7 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_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
 SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@@ -97,6 +114,11 @@ BO_ 742 LEAD_INFO: 8 DSU

 BO_ 835 ACC_CONTROL: 8 DSU
 SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@@ -123,17 +145,25 @@ BO_ 951 ESP_CONTROL: 8 ESP

 BO_ 1041 ACC_HUD: 8 DSU
 SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX

 BO_ 1042 LKAS_HUD: 8 XXX
 SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
 SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
 SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
 SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -180,6 +210,8 @@ 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
@@ -195,8 +227,9 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
@@ -205,6 +238,7 @@ BO_ 956 GEAR_PACKET: 8 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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -0,0 +1,247 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+
+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- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+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
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 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
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 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_camry_hybrid_2018_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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/toyota_chr_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_2018_pt_generated.dbc
@@ -0,0 +1,244 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+
+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- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+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
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 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
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 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_chr_2018_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 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: 8 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/toyota_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -1,4 +1,20 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+
 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""

@@ -73,10 +89,11 @@ BO_ 560 BRAKE_MODULE2: 7 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_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
 SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@@ -97,6 +114,11 @@ BO_ 742 LEAD_INFO: 8 DSU

 BO_ 835 ACC_CONTROL: 8 DSU
 SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@@ -123,17 +145,25 @@ BO_ 951 ESP_CONTROL: 8 ESP

 BO_ 1041 ACC_HUD: 8 DSU
 SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX

 BO_ 1042 LKAS_HUD: 8 XXX
 SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
 SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
 SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
 SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -180,6 +210,8 @@ 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
@@ -195,8 +227,9 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
@@ -204,6 +237,7 @@ BO_ 956 GEAR_PACKET: 8 XXX

 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -1,4 +1,20 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+
 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""

@@ -73,10 +89,11 @@ BO_ 560 BRAKE_MODULE2: 7 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_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
 SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@@ -97,6 +114,11 @@ BO_ 742 LEAD_INFO: 8 DSU

 BO_ 835 ACC_CONTROL: 8 DSU
 SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@@ -123,17 +145,25 @@ BO_ 951 ESP_CONTROL: 8 ESP

 BO_ 1041 ACC_HUD: 8 DSU
 SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX

 BO_ 1042 LKAS_HUD: 8 XXX
 SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
 SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
 SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
 SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -180,6 +210,8 @@ 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
@@ -201,13 +233,19 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 1083 AUTOPARK_STATUS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" 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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero";
 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -1,4 +1,20 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+
 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""

@@ -73,10 +89,11 @@ BO_ 560 BRAKE_MODULE2: 7 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_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
 SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@@ -97,6 +114,11 @@ BO_ 742 LEAD_INFO: 8 DSU

 BO_ 835 ACC_CONTROL: 8 DSU
 SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@@ -123,17 +145,25 @@ BO_ 951 ESP_CONTROL: 8 ESP

 BO_ 1041 ACC_HUD: 8 DSU
 SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX

 BO_ 1042 LKAS_HUD: 8 XXX
 SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
 SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
 SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
 SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -180,6 +210,8 @@ 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
@@ -195,8 +227,9 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
@@ -204,6 +237,7 @@ BO_ 956 GEAR_PACKET: 8 XXX

 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 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";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -1,4 +1,20 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+
 CM_ "Imported file _toyota_2017.dbc starts here"
 VERSION ""

@@ -73,10 +89,11 @@ BO_ 560 BRAKE_MODULE2: 7 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_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
 SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

@@ -97,6 +114,11 @@ BO_ 742 LEAD_INFO: 8 DSU

 BO_ 835 ACC_CONTROL: 8 DSU
 SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 1556 STEERING_LEVERS: 8 XXX
 SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@@ -123,17 +145,25 @@ BO_ 951 ESP_CONTROL: 8 ESP

 BO_ 1041 ACC_HUD: 8 DSU
 SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX

 BO_ 1042 LKAS_HUD: 8 XXX
 SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
 SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
 SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
- SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
 SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
 SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
 SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
 SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
@@ -180,6 +210,8 @@ 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
@@ -195,8 +227,9 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX

 BO_ 956 GEAR_PACKET: 8 XXX
@@ -205,6 +238,7 @@ BO_ 956 GEAR_PACKET: 8 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";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
--- a/panda/.circleci/config.yml
+++ b/panda/.circleci/config.yml
@@ -0,0 +1,41 @@
+version: 2
+jobs:
+  safety:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_safety -f tests/safety/Dockerfile ."
+      - run:
+          name: Run safety test
+          command: |
+            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+  build:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t panda_build -f tests/build/Dockerfile ."
+      - run:
+          name: Test python package installer
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda; python setup.py install"
+      - run:
+          name: Build STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board; make bin"
+      - run:
+          name: Build ESP image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/boardesp; make user1.bin"
+
+workflows:
+  version: 2
+  main:
+    jobs:
+      - safety
+      - build
--- a/panda/.gitignore
+++ b/panda/.gitignore
@@ -2,6 +2,8 @@
 .*.swp
 .*.swo
 *.o
+*.so
+*.d
 a.out
 *~
 .#*
--- a/panda/.travis.yml
+++ b/panda/.travis.yml
@@ -1,20 +0,0 @@
-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/README.md
+++ b/panda/README.md
@@ -13,7 +13,7 @@ It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?

 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)
+[![CircleCI](https://circleci.com/gh/commaai/panda.svg?style=svg)](https://circleci.com/gh/commaai/panda)

 Usage
 ------
@@ -35,7 +35,7 @@ And to send one on bus 0:
 ```
 >>> panda.can_send(0x1aa, "message", 0)
 ```
-More examples coming soon
+Find user made scripts on the [wiki](https://community.comma.ai/wiki/index.php/Panda_scripts)

 Software interface support
 ------
@@ -45,7 +45,7 @@ As a universal car interface, it should support every reasonable software interf
 - 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))
+- Windows J2534 ([done](https://github.com/commaai/panda/tree/master/drivers/windows))

 Directory structure
 ------
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.0.7
+v1.1.0
--- a/panda/board/Makefile
+++ b/panda/board/Makefile
@@ -2,7 +2,7 @@ PROJ_NAME = panda
 CFLAGS = -g -Wall

 CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
-CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx
+CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
 STARTUP_FILE = startup_stm32f413xx

 include build.mk
--- a/panda/board/bootstub.c
+++ b/panda/board/bootstub.c
@@ -24,6 +24,12 @@
 #include "drivers/usb.h"
 //#include "drivers/uart.h"

+#ifdef PEDAL
+#define CUSTOM_CAN_INTERRUPTS
+#include "safety.h"
+#include "drivers/can.h"
+#endif
+
 int puts(const char *a) { return 0; }
 void puth(unsigned int i) {}

--- a/panda/board/build.mk
+++ b/panda/board/build.mk
@@ -1,4 +1,5 @@
-CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O0
+CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O2
+
 CFLAGS += -Tstm32_flash.ld

 CC = arm-none-eabi-gcc
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -86,6 +86,7 @@ int can_err_cnt = 0;
  uint8_t can_num_lookup[] = {0,1,2,-1};
  int8_t can_forwarding[] = {-1,-1,-1,-1};
  uint32_t can_speed[] = {5000, 5000, 5000, 333};
+  bool can_autobaud_enabled[] = {true, true, true, false};
  #define CAN_MAX 3
 #else
  CAN_TypeDef *cans[] = {CAN1, CAN2};
@@ -93,10 +94,21 @@ int can_err_cnt = 0;
  uint8_t can_num_lookup[] = {1,0};
  int8_t can_forwarding[] = {-1,-1};
  uint32_t can_speed[] = {5000, 5000};
+  bool can_autobaud_enabled[] = {true, true};
  #define CAN_MAX 2
 #endif

+uint32_t can_autobaud_speeds[] = {5000, 2500, 1250, 1000, 10000};
+#define AUTOBAUD_SPEEDS_LEN (sizeof(can_autobaud_speeds) / sizeof(can_autobaud_speeds[0]))
+
 #define CANIF_FROM_CAN_NUM(num) (cans[num])
+#ifdef PANDA
+#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : (CAN==CAN2 ? 1 : 2))
+#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : (CAN==CAN2 ? "CAN2" : "CAN3"))
+#else
+#define CAN_NUM_FROM_CANIF(CAN) (CAN==CAN1 ? 0 : 1)
+#define CAN_NAME_FROM_CANIF(CAN) (CAN==CAN1 ? "CAN1" : "CAN2")
+#endif
 #define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
 #define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])

@@ -115,43 +127,78 @@ int can_err_cnt = 0;
 // 5000 = 500 kbps
 #define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10 / (x))

+void can_autobaud_speed_increment(uint8_t can_number) {
+  uint32_t autobaud_speed = can_autobaud_speeds[0];
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  for (int i = 0; i < AUTOBAUD_SPEEDS_LEN; i++) {
+    if (can_speed[bus_number] == can_autobaud_speeds[i]) {
+      if (i+1 < AUTOBAUD_SPEEDS_LEN) {
+        autobaud_speed = can_autobaud_speeds[i+1];
+      }
+      break;
+    }
+  }
+  can_speed[bus_number] = autobaud_speed;
+#ifdef DEBUG
+  CAN_TypeDef* CAN = CANIF_FROM_CAN_NUM(can_number);
+  puts(CAN_NAME_FROM_CANIF(CAN));
+  puts(" auto-baud test ");
+  putui(can_speed[bus_number]);
+  puts(" cbps\n");
+#endif
+}
+
 void process_can(uint8_t can_number);

+void can_set_speed(uint8_t can_number) {
+  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+
+  while (true) {
+    // initialization mode
+    CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
+    while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
+    
+    // set time quanta from defines
+    CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+              (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+              (can_speed_to_prescaler(can_speed[bus_number]) - 1);
+
+    // silent loopback mode for debugging
+    if (can_loopback) {
+      CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
+    }
+    if (can_silent & (1 << can_number)) {
+      CAN->BTR |= CAN_BTR_SILM;
+    }
+
+    // reset
+    CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
+
+    #define CAN_TIMEOUT 1000000
+    int tmp = 0;
+    while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
+    if (tmp < CAN_TIMEOUT) {
+      return;
+    }
+
+    if (can_autobaud_enabled[bus_number]) {
+      can_autobaud_speed_increment(can_number);
+    } else {
+      puts("CAN init FAILED!!!!!\n");
+      puth(can_number); puts(" ");
+      puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
+      return;
+    }
+  }
+}
+
 void can_init(uint8_t can_number) {
  if (can_number == 0xff) return;

  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
  set_can_enable(CAN, 1);
-
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
-  while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
-
-  // set time quanta from defines
-  CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
-             (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
-             (can_speed_to_prescaler(can_speed[BUS_NUM_FROM_CAN_NUM(can_number)]) - 1);
-
-  // silent loopback mode for debugging
-  if (can_loopback) {
-    CAN->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM;
-  }
-
-  if (can_silent & (1 << can_number)) {
-    CAN->BTR |= CAN_BTR_SILM;
-  }
-
-  // reset
-  CAN->MCR = CAN_MCR_TTCM | CAN_MCR_ABOM;
-
-  #define CAN_TIMEOUT 1000000
-  int tmp = 0;
-  while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK && tmp < CAN_TIMEOUT) tmp++;
-
-  if (tmp == CAN_TIMEOUT) {
-    puts("CAN init FAILED!!!!!\n");
-    puth(can_number); puts(" ");
-    puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
-  }
+  can_set_speed(can_number);

  // accept all filter
  CAN->FMR |= CAN_FMR_FINIT;
@@ -166,7 +213,7 @@ void can_init(uint8_t can_number) {
  CAN->FMR &= ~(CAN_FMR_FINIT);

  // enable certain CAN interrupts
-  CAN->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0;
+  CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0;

  switch (can_number) {
    case 0:
@@ -199,6 +246,7 @@ void can_init_all() {
 }

 void can_set_gmlan(int bus) {
+  #ifdef PANDA
  if (bus == -1 || bus != can_num_lookup[3]) {
    // GMLAN OFF
    switch (can_num_lookup[3]) {
@@ -238,10 +286,13 @@ void can_set_gmlan(int bus) {
    can_num_lookup[3] = 2;
    can_init(2);
  }
+  #endif
 }

 // CAN error
 void can_sce(CAN_TypeDef *CAN) {
+  enter_critical_section();
+
  can_err_cnt += 1;
  #ifdef DEBUG
    if (CAN==CAN1) puts("CAN1:  ");
@@ -262,9 +313,19 @@ void can_sce(CAN_TypeDef *CAN) {
    puts("\n");
  #endif

+  uint8_t can_number = CAN_NUM_FROM_CANIF(CAN);
+  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
+  if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
+    can_autobaud_speed_increment(can_number);
+    can_set_speed(can_number);
+  }
+
  // clear current send
  CAN->TSR |= CAN_TSR_ABRQ0;
+  CAN->MSR &= ~(CAN_MSR_ERRI);
  CAN->MSR = CAN->MSR;
+
+  exit_critical_section();
 }

 // ***************************** CAN *****************************
@@ -332,6 +393,16 @@ void can_rx(uint8_t can_number) {
  CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
  uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    if (can_autobaud_enabled[bus_number]) {
+      can_autobaud_enabled[bus_number] = false;
+      puts(CAN_NAME_FROM_CANIF(CAN));
+    #ifdef DEBUG
+      puts(" auto-baud ");
+      putui(can_speed[bus_number]);
+      puts(" cbps\n");
+    #endif
+    }
+
    can_rx_cnt += 1;

    // can is live
@@ -346,13 +417,14 @@ void can_rx(uint8_t can_number) {

    // forwarding (panda only)
    #ifdef PANDA
-      if (can_forwarding[bus_number] != -1) {
+      int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
+      if (bus_fwd_num != -1) {
        CAN_FIFOMailBox_TypeDef to_send;
        to_send.RIR = to_push.RIR | 1; // TXRQ
        to_send.RDTR = to_push.RDTR;
        to_send.RDLR = to_push.RDLR;
        to_send.RDHR = to_push.RDHR;
-        can_send(&to_send, can_forwarding[bus_number]);
+        can_send(&to_send, bus_fwd_num);
      }
    #endif

@@ -370,6 +442,8 @@ void can_rx(uint8_t can_number) {
  }
 }

+#ifndef CUSTOM_CAN_INTERRUPTS
+
 void CAN1_TX_IRQHandler() { process_can(0); }
 void CAN1_RX0_IRQHandler() { can_rx(0); }
 void CAN1_SCE_IRQHandler() { can_sce(CAN1); }
@@ -384,8 +458,10 @@ void CAN3_RX0_IRQHandler() { can_rx(2); }
 void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
 #endif

+#endif
+
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
-  if (safety_tx_hook(to_push)) {
+  if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
    if (bus_number < BUS_MAX) {
      // add CAN packet to send queue
      // bus number isn't passed through
--- a/panda/board/drivers/drivers.h
+++ b/panda/board/drivers/drivers.h
@@ -88,7 +88,7 @@ uint32_t adc_get(int channel);
 // ********************* DAC *********************

 void dac_init();
-uint32_t dac_set(int channel, uint32_t value);
+void dac_set(int channel, uint32_t value);


 // ********************* TIMER *********************
--- a/panda/board/drivers/spi.h
+++ b/panda/board/drivers/spi.h
@@ -40,6 +40,7 @@ void spi_tx_dma(void *addr, int len) {

  // channel3, increment memory, memory -> periph, enable
  DMA2_Stream3->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_EN;
+  delay(0);
  DMA2_Stream3->CR |= DMA_SxCR_TCIE;

  SPI1->CR2 |= SPI_CR2_TXDMAEN;
@@ -65,6 +66,7 @@ void spi_rx_dma(void *addr, int len) {

  // channel3, increment memory, periph -> memory, enable
  DMA2_Stream2->CR = DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_EN;
+  delay(0);
  DMA2_Stream2->CR |= DMA_SxCR_TCIE;

  SPI1->CR2 |= SPI_CR2_RXDMAEN;
@@ -95,7 +97,7 @@ void DMA2_Stream2_IRQHandler(void) {
 void DMA2_Stream3_IRQHandler(void) {
  #ifdef DEBUG_SPI
    puts("SPI handshake\n");
-  #endif  
+  #endif

  // reset handshake back to pull up
  set_gpio_mode(GPIOB, 0, MODE_INPUT);
--- a/panda/board/drivers/uart.h
+++ b/panda/board/drivers/uart.h
@@ -266,6 +266,17 @@ int puts(const char *a) {
  return 0;
 }

+void putui(uint32_t i) {
+  char str[11];
+  uint8_t idx = 10;
+  str[idx--] = '\0';
+  do {
+    str[idx--] = (i % 10) + 0x30;
+    i /= 10;
+  } while (i);
+  puts(str + idx + 1);
+}
+
 void puth(unsigned int i) {
  int pos;
  char c[] = "0123456789abcdef";
--- a/panda/board/drivers/usb.h
+++ b/panda/board/drivers/usb.h
@@ -30,13 +30,35 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;
 #define  USB_REQ_SET_INTERFACE                          0x0B
 #define  USB_REQ_SYNCH_FRAME                            0x0C

-#define  USB_DESC_TYPE_DEVICE                              1
-#define  USB_DESC_TYPE_CONFIGURATION                       2
-#define  USB_DESC_TYPE_STRING                              3
-#define  USB_DESC_TYPE_INTERFACE                           4
-#define  USB_DESC_TYPE_ENDPOINT                            5
-#define  USB_DESC_TYPE_DEVICE_QUALIFIER                    6
-#define  USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION           7
+#define  USB_DESC_TYPE_DEVICE                           0x01
+#define  USB_DESC_TYPE_CONFIGURATION                    0x02
+#define  USB_DESC_TYPE_STRING                           0x03
+#define  USB_DESC_TYPE_INTERFACE                        0x04
+#define  USB_DESC_TYPE_ENDPOINT                         0x05
+#define  USB_DESC_TYPE_DEVICE_QUALIFIER                 0x06
+#define  USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION        0x07
+#define  USB_DESC_TYPE_BINARY_OBJECT_STORE              0x0f
+
+// offsets for configuration strings
+#define  STRING_OFFSET_LANGID                           0x00
+#define  STRING_OFFSET_IMANUFACTURER                    0x01
+#define  STRING_OFFSET_IPRODUCT                         0x02
+#define  STRING_OFFSET_ISERIAL                          0x03
+#define  STRING_OFFSET_ICONFIGURATION                   0x04
+#define  STRING_OFFSET_IINTERFACE                       0x05
+
+// WebUSB requests
+#define  WEBUSB_REQ_GET_URL                             0x02
+
+// WebUSB types
+#define  WEBUSB_DESC_TYPE_URL                           0x03
+#define  WEBUSB_URL_SCHEME_HTTPS                        0x01
+#define  WEBUSB_URL_SCHEME_HTTP                         0x00
+
+// WinUSB requests
+#define  WINUSB_REQ_GET_COMPATID_DESCRIPTOR             0x04
+#define  WINUSB_REQ_GET_EXT_PROPS_OS                    0x05
+#define  WINUSB_REQ_GET_DESCRIPTOR                      0x07

 #define STS_GOUT_NAK                           1
 #define STS_DATA_UPDT                          2
@@ -50,15 +72,6 @@ USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS;

 uint8_t resp[MAX_RESP_LEN];

-// descriptor types
-// same as setupdat.h
-#define DSCR_DEVICE_TYPE 1
-#define DSCR_CONFIG_TYPE 2
-#define DSCR_STRING_TYPE 3
-#define DSCR_INTERFACE_TYPE 4
-#define DSCR_ENDPOINT_TYPE 5
-#define DSCR_DEVQUAL_TYPE 6
-
 // for the repeating interfaces
 #define DSCR_INTERFACE_LEN 9
 #define DSCR_ENDPOINT_LEN 7
@@ -71,12 +84,26 @@ uint8_t resp[MAX_RESP_LEN];
 #define ENDPOINT_TYPE_BULK 2
 #define ENDPOINT_TYPE_INT 3

-//Convert machine byte order to USB byte order
+// These are arbitrary values used in bRequest
+#define  MS_VENDOR_CODE 0x20
+#define  WEBUSB_VENDOR_CODE 0x30
+
+// BOS constants
+#define BINARY_OBJECT_STORE_DESCRIPTOR_LENGTH   0x05
+#define BINARY_OBJECT_STORE_DESCRIPTOR          0x0F
+#define WINUSB_PLATFORM_DESCRIPTOR_LENGTH       0x9E
+
+// Convert machine byte order to USB byte order
 #define TOUSBORDER(num)\
  (num&0xFF), ((num>>8)&0xFF)

+// take in string length and return the first 2 bytes of a string descriptor
+#define STRING_DESCRIPTOR_HEADER(size)\
+  (((size * 2 + 2)&0xFF) | 0x0300)
+
 uint8_t device_desc[] = {
-  DSCR_DEVICE_LEN, DSCR_DEVICE_TYPE, 0x00, 0x01, //Length, Type, bcdUSB
+  DSCR_DEVICE_LEN, USB_DESC_TYPE_DEVICE, //Length, Type
+  0x10, 0x02, // bcdUSB max version of USB supported (2.1)
  0xFF, 0xFF, 0xFF, 0x40, // Class, Subclass, Protocol, Max Packet Size
  TOUSBORDER(USB_VID), // idVendor
  TOUSBORDER(USB_PID), // idProduct
@@ -89,85 +116,257 @@ uint8_t device_desc[] = {
  0x03, 0x01 // Serial Number, Num Configurations
 };

+uint8_t device_qualifier[] = {
+  0x0a, USB_DESC_TYPE_DEVICE_QUALIFIER, //Length, Type
+  0x10, 0x02, // bcdUSB max version of USB supported (2.1)
+  0xFF, 0xFF, 0xFF, 0x40, // bDeviceClass, bDeviceSubClass, bDeviceProtocol, bMaxPacketSize0
+  0x01, 0x00 // bNumConfigurations, bReserved
+};
+
 #define ENDPOINT_RCV 0x80
 #define ENDPOINT_SND 0x00

 uint8_t configuration_desc[] = {
-  DSCR_CONFIG_LEN, DSCR_CONFIG_TYPE, // Length, Type,
+  DSCR_CONFIG_LEN, USB_DESC_TYPE_CONFIGURATION, // Length, Type,
  TOUSBORDER(0x0045), // Total Len (uint16)
-  0x01, 0x01, 0x00, // Num Interface, Config Value, Configuration
+  0x01, 0x01, STRING_OFFSET_ICONFIGURATION, // Num Interface, Config Value, Configuration
  0xc0, 0x32, // Attributes, Max Power
  // interface 0 ALT 0
-  DSCR_INTERFACE_LEN, DSCR_INTERFACE_TYPE, // Length, Type
+  DSCR_INTERFACE_LEN, USB_DESC_TYPE_INTERFACE, // Length, Type
  0x00, 0x00, 0x03, // Index, Alt Index idx, Endpoint count
  0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol
  0x00, // Interface
    // endpoint 1, read CAN
-    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
    TOUSBORDER(0x0040), // Max Packet (0x0040)
    0x00, // Polling Interval (NA)
    // endpoint 2, send serial
-    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
    TOUSBORDER(0x0040), // Max Packet (0x0040)
    0x00, // Polling Interval
    // endpoint 3, send CAN
-    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
    TOUSBORDER(0x0040), // Max Packet (0x0040)
    0x00, // Polling Interval
  // interface 0 ALT 1
-  DSCR_INTERFACE_LEN, DSCR_INTERFACE_TYPE, // Length, Type
+  DSCR_INTERFACE_LEN, USB_DESC_TYPE_INTERFACE, // Length, Type
  0x00, 0x01, 0x03, // Index, Alt Index idx, Endpoint count
  0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol
  0x00, // Interface
    // endpoint 1, read CAN
-    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type
    TOUSBORDER(0x0040), // Max Packet (0x0040)
    0x05, // Polling Interval (5 frames)
    // endpoint 2, send serial
-    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
    TOUSBORDER(0x0040), // Max Packet (0x0040)
    0x00, // Polling Interval
    // endpoint 3, send CAN
-    DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
+    DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type
    ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
    TOUSBORDER(0x0040), // Max Packet (0x0040)
    0x00, // Polling Interval
 };

-uint8_t string_0_desc[] = {
-  0x04, DSCR_STRING_TYPE, 0x09, 0x04
+// STRING_DESCRIPTOR_HEADER is for uint16 string descriptors
+// it takes in a string length, which is bytes/2 because unicode
+uint16_t string_language_desc[] = {
+  STRING_DESCRIPTOR_HEADER(1),
+  0x0409 // american english
 };

-uint16_t string_1_desc[] = {
-  0x0312,
+// these strings are all uint16's so that we don't need to spam ,0 after every character
+uint16_t string_manufacturer_desc[] = {
+  STRING_DESCRIPTOR_HEADER(8),
  'c', 'o', 'm', 'm', 'a', '.', 'a', 'i'
 };

 #ifdef PANDA
-uint16_t string_2_desc[] = {
-  0x030c,
+uint16_t string_product_desc[] = {
+  STRING_DESCRIPTOR_HEADER(5),
  'p', 'a', 'n', 'd', 'a'
 };
 #else
-uint16_t string_2_desc[] = {
-  0x030c,
+uint16_t string_product_desc[] = {
+  STRING_DESCRIPTOR_HEADER(5),
  'N', 'E', 'O', 'v', '1'
 };
 #endif

-uint16_t string_3_desc[] = {
-  0x030a,
+// default serial number when we're not a panda
+uint16_t string_serial_desc[] = {
+  STRING_DESCRIPTOR_HEADER(4),
  'n', 'o', 'n', 'e'
 };

+// a string containing the default configuration index
+uint16_t string_configuration_desc[] = {
+  STRING_DESCRIPTOR_HEADER(2),
+  '0', '1' // "01"
+};
+
+#ifdef PANDA
+// WCID (auto install WinUSB driver)
+// https://github.com/pbatard/libwdi/wiki/WCID-Devices
+// https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/winusb-installation#automatic-installation-of--winusb-without-an-inf-file
+// WinUSB 1.0 descriptors, this is mostly used by Windows XP
+uint8_t string_238_desc[] = {
+  0x12, USB_DESC_TYPE_STRING, // bLength, bDescriptorType
+  'M',0, 'S',0, 'F',0, 'T',0, '1',0, '0',0, '0',0, // qwSignature (MSFT100)
+  MS_VENDOR_CODE, 0x00 // bMS_VendorCode, bPad
+};
+uint8_t winusb_ext_compatid_os_desc[] = {
+  0x28, 0x00, 0x00, 0x00, // dwLength
+  0x00, 0x01, // bcdVersion
+  0x04, 0x00, // wIndex
+  0x01, // bCount
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // Reserved
+  0x00, // bFirstInterfaceNumber
+  0x00, // Reserved
+  'W', 'I', 'N', 'U', 'S', 'B', 0x00, 0x00, // compatible ID (WINUSB)
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // subcompatible ID (none)
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // Reserved
+};
+uint8_t winusb_ext_prop_os_desc[] = {
+  0x8e, 0x00, 0x00, 0x00, // dwLength
+  0x00, 0x01, // bcdVersion
+  0x05, 0x00, // wIndex
+  0x01, 0x00, // wCount
+  // first property
+  0x84, 0x00, 0x00, 0x00, // dwSize
+  0x01, 0x00, 0x00, 0x00, // dwPropertyDataType
+  0x28, 0x00, // wPropertyNameLength
+  'D',0, 'e',0, 'v',0, 'i',0, 'c',0, 'e',0, 'I',0, 'n',0, 't',0, 'e',0, 'r',0, 'f',0, 'a',0, 'c',0, 'e',0, 'G',0, 'U',0, 'I',0, 'D',0, 0, 0, // bPropertyName (DeviceInterfaceGUID)
+  0x4e, 0x00, 0x00, 0x00, // dwPropertyDataLength
+  '{',0, 'c',0, 'c',0, 'e',0, '5',0, '2',0, '9',0, '1',0, 'c',0, '-',0, 'a',0, '6',0, '9',0, 'f',0, '-',0, '4',0 ,'9',0 ,'9',0 ,'5',0 ,'-',0, 'a',0, '4',0, 'c',0, '2',0, '-',0, '2',0, 'a',0, 'e',0, '5',0, '7',0, 'a',0, '5',0, '1',0, 'a',0, 'd',0, 'e',0, '9',0, '}',0, 0, 0, // bPropertyData ({CCE5291C-A69F-4995-A4C2-2AE57A51ADE9})
+};
+
+/*
+Binary Object Store descriptor used to expose WebUSB (and more WinUSB) metadata
+comments are from the wicg spec
+References used:
+  https://wicg.github.io/webusb/#webusb-platform-capability-descriptor
+  https://github.com/sowbug/weblight/blob/192ad7a0e903542e2aa28c607d98254a12a6399d/firmware/webusb.c
+  https://os.mbed.com/users/larsgk/code/USBDevice_WebUSB/file/1d8a6665d607/WebUSBDevice/
+
+*/
+uint8_t binary_object_store_desc[] = {
+  // BOS header
+  BINARY_OBJECT_STORE_DESCRIPTOR_LENGTH, // bLength, this is only the length of the header
+  BINARY_OBJECT_STORE_DESCRIPTOR, // bDescriptorType
+  0x40, 0x00, // wTotalLength (LSB, MSB)
+  0x03, // bNumDeviceCaps (USB 2.0 + WebUSB + WinUSB)
+
+  // -------------------------------------------------
+  // USB 2.0 extension descriptor
+  0x07, // bLength, Descriptor size
+  0x10, // bDescriptorType, Device Capability Descriptor Type
+  0x02, // bDevCapabilityType, USB 2.0 extension capability type
+  0x00, 0x00, 0x00, 0x00, // bmAttributes, LIBUSB_BM_LPM_SUPPORT = 2 and its the only option
+
+  // -------------------------------------------------
+  // WebUSB descriptor
+  // header
+    0x18, // bLength, Size of this descriptor. Must be set to 24.
+    0x10, // bDescriptorType, DEVICE CAPABILITY descriptor
+    0x05, // bDevCapabilityType, PLATFORM capability
+    0x00, // bReserved, This field is reserved and shall be set to zero.
+
+  // PlatformCapabilityUUID, Must be set to {3408b638-09a9-47a0-8bfd-a0768815b665}.
+    0x38, 0xB6, 0x08, 0x34,
+    0xA9, 0x09, 0xA0, 0x47,
+    0x8B, 0xFD, 0xA0, 0x76,
+    0x88, 0x15, 0xB6, 0x65,
+  // </PlatformCapabilityUUID>
+
+  0x00, 0x01, // bcdVersion, Protocol version supported. Must be set to 0x0100.
+  WEBUSB_VENDOR_CODE, // bVendorCode, bRequest value used for issuing WebUSB requests.
+  // there used to be a concept of "allowed origins", but it was removed from the spec
+  // it was intended to be a security feature, but then the entire security model relies on domain ownership
+  // https://github.com/WICG/webusb/issues/49
+  // other implementations use various other indexed to leverate this no-longer-valid feature. we wont.
+  // the spec says we *must* reply to index 0x03 with the url, so we'll hint that that's the right index
+  0x03, // iLandingPage, URL descriptor index of the device’s landing page.
+
+  // -------------------------------------------------
+  // WinUSB descriptor
+  // header
+    0x1C, // Descriptor size (28 bytes)
+    0x10, // Descriptor type (Device Capability)
+    0x05, // Capability type (Platform)
+    0x00, // Reserved
+
+  // MS OS 2.0 Platform Capability ID (D8DD60DF-4589-4CC7-9CD2-659D9E648A9F)
+  // Indicates the device supports the Microsoft OS 2.0 descriptor
+    0xDF, 0x60, 0xDD, 0xD8,
+    0x89, 0x45, 0xC7, 0x4C,
+    0x9C, 0xD2, 0x65, 0x9D,
+    0x9E, 0x64, 0x8A, 0x9F,
+
+  0x00, 0x00, 0x03, 0x06, // Windows version, currently set to 8.1 (0x06030000)
+
+  WINUSB_PLATFORM_DESCRIPTOR_LENGTH, 0x00, // MS OS 2.0 descriptor size (word)
+  MS_VENDOR_CODE, 0x00 // vendor code, no alternate enumeration
+};
+
+uint8_t webusb_url_descriptor[] = {
+  0x14,                  /* bLength */
+  WEBUSB_DESC_TYPE_URL, // bDescriptorType
+  WEBUSB_URL_SCHEME_HTTPS, // bScheme
+  'u', 's', 'b', 'p', 'a', 'n', 'd', 'a', '.', 'c', 'o', 'm', 'm', 'a', '.', 'a', 'i'
+};
+
+// WinUSB 2.0 descriptor. This is what modern systems use
+// https://github.com/sowbug/weblight/blob/192ad7a0e903542e2aa28c607d98254a12a6399d/firmware/webusb.c
+// http://janaxelson.com/files/ms_os_20_descriptors.c
+// https://books.google.com/books?id=pkefBgAAQBAJ&pg=PA353&lpg=PA353
+uint8_t winusb_20_desc[WINUSB_PLATFORM_DESCRIPTOR_LENGTH] = {
+  // Microsoft OS 2.0 descriptor set header (table 10)
+  0x0A, 0x00, // Descriptor size (10 bytes)
+  0x00, 0x00, // MS OS 2.0 descriptor set header
+
+  0x00, 0x00, 0x03, 0x06, // Windows version (8.1) (0x06030000)
+  WINUSB_PLATFORM_DESCRIPTOR_LENGTH, 0x00, // Total size of MS OS 2.0 descriptor set
+
+  // Microsoft OS 2.0 compatible ID descriptor
+    0x14, 0x00, // Descriptor size (20 bytes)
+    0x03, 0x00, // MS OS 2.0 compatible ID descriptor
+    'W', 'I', 'N', 'U', 'S', 'B', 0x00, 0x00, // compatible ID (WINUSB)
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,     // Sub-compatible ID
+
+  // Registry property descriptor
+  0x80, 0x00, // Descriptor size (130 bytes)
+  0x04, 0x00, // Registry Property descriptor
+  0x01, 0x00, // Strings are null-terminated Unicode
+  0x28, 0x00, // Size of Property Name (40 bytes) "DeviceInterfaceGUID"
+
+  // bPropertyName (DeviceInterfaceGUID)
+    'D', 0x00, 'e', 0x00, 'v', 0x00, 'i', 0x00, 'c', 0x00, 'e', 0x00, 'I', 0x00, 'n', 0x00,
+    't', 0x00, 'e', 0x00, 'r', 0x00, 'f', 0x00, 'a', 0x00, 'c', 0x00, 'e', 0x00, 'G', 0x00,
+    'U', 0x00, 'I', 0x00, 'D', 0x00, 0x00, 0x00,
+
+  0x4E, 0x00, // Size of Property Data (78 bytes)
+
+  // Vendor-defined property data: {CCE5291C-A69F-4995-A4C2-2AE57A51ADE9}
+    '{', 0x00, 'c', 0x00, 'c', 0x00, 'e', 0x00, '5', 0x00, '2', 0x00, '9', 0x00, '1', 0x00, // 16
+    'c', 0x00, '-', 0x00, 'a', 0x00, '6', 0x00, '9', 0x00, 'f', 0x00, '-', 0x00, '4', 0x00, // 32
+    '9', 0x00, '9', 0x00, '5', 0x00, '-', 0x00, 'a', 0x00, '4', 0x00, 'c', 0x00, '2', 0x00, // 48
+    '-', 0x00, '2', 0x00, 'a', 0x00, 'e', 0x00, '5', 0x00, '7', 0x00, 'a', 0x00, '5', 0x00, // 64
+    '1', 0x00, 'a', 0x00, 'd', 0x00, 'e', 0x00, '9', 0x00, '}', 0x00, 0x00, 0x00 // 78 bytes
+};
+
+#endif
+
 // current packet
 USB_Setup_TypeDef setup;
 uint8_t usbdata[0x100];
+uint8_t* ep0_txdata = NULL;
+uint16_t ep0_txlen = 0;

 // Store the current interface alt setting.
 int current_int0_alt_setting = 0;
@@ -206,6 +405,26 @@ void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
  }
 }

+// IN EP 0 TX FIFO has a max size of 127 bytes (much smaller than the rest)
+// so use TX FIFO empty interrupt to send larger amounts of data
+void USB_WritePacket_EP0(uint8_t *src, uint16_t len) {
+  #ifdef DEBUG_USB
+  puts("writing ");
+  hexdump(src, len);
+  #endif
+
+  uint16_t wplen = min(len, 0x40);
+  USB_WritePacket(src, wplen, 0);
+
+  if (wplen < len) {
+    ep0_txdata = src + wplen;
+    ep0_txlen = len - wplen;
+    USBx_DEVICE->DIEPEMPMSK |= 1;
+  } else {
+    USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+  }
+}
+
 void usb_reset() {
  // unmask endpoint interrupts, so many sets
  USBx_DEVICE->DAINT = 0xFFFFFFFF;
@@ -315,18 +534,22 @@ void usb_setup() {
          USB_WritePacket(configuration_desc, min(sizeof(configuration_desc), setup.b.wLength.w), 0);
          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
          break;
+        case USB_DESC_TYPE_DEVICE_QUALIFIER:
+          USB_WritePacket(device_qualifier, min(sizeof(device_qualifier), setup.b.wLength.w), 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+          break;
        case USB_DESC_TYPE_STRING:
          switch (setup.b.wValue.bw.msb) {
-            case 0:
-              USB_WritePacket((uint8_t*)string_0_desc, min(sizeof(string_0_desc), setup.b.wLength.w), 0);
+            case STRING_OFFSET_LANGID:
+              USB_WritePacket((uint8_t*)string_language_desc, min(sizeof(string_language_desc), setup.b.wLength.w), 0);
              break;
-            case 1:
-              USB_WritePacket((uint8_t*)string_1_desc, min(sizeof(string_1_desc), setup.b.wLength.w), 0);
+            case STRING_OFFSET_IMANUFACTURER:
+              USB_WritePacket((uint8_t*)string_manufacturer_desc, min(sizeof(string_manufacturer_desc), setup.b.wLength.w), 0);
              break;
-            case 2:
-              USB_WritePacket((uint8_t*)string_2_desc, min(sizeof(string_2_desc), setup.b.wLength.w), 0);
+            case STRING_OFFSET_IPRODUCT:
+              USB_WritePacket((uint8_t*)string_product_desc, min(sizeof(string_product_desc), setup.b.wLength.w), 0);
              break;
-            case 3:
+            case STRING_OFFSET_ISERIAL:
              #ifdef PANDA
                resp[0] = 0x02 + 12*4;
                resp[1] = 0x03;
@@ -342,9 +565,17 @@ void usb_setup() {

                USB_WritePacket(resp, min(resp[0], setup.b.wLength.w), 0);
              #else
-                USB_WritePacket((const uint8_t *)string_3_desc, min(sizeof(string_3_desc), setup.b.wLength.w), 0);
+                USB_WritePacket((const uint8_t *)string_serial_desc, min(sizeof(string_serial_desc), setup.b.wLength.w), 0);
              #endif
              break;
+            #ifdef PANDA
+            case STRING_OFFSET_ICONFIGURATION:
+              USB_WritePacket((uint8_t*)string_configuration_desc, min(sizeof(string_configuration_desc), setup.b.wLength.w), 0);
+              break;
+            case 238:
+              USB_WritePacket((uint8_t*)string_238_desc, min(sizeof(string_238_desc), setup.b.wLength.w), 0);
+              break;
+            #endif
            default:
              // nothing
              USB_WritePacket(0, 0, 0);
@@ -352,6 +583,12 @@ void usb_setup() {
          }
          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
          break;
+        #ifdef PANDA
+        case USB_DESC_TYPE_BINARY_OBJECT_STORE:
+          USB_WritePacket(binary_object_store_desc, min(sizeof(binary_object_store_desc), setup.b.wLength.w), 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+          break;
+        #endif
        default:
          // nothing here?
          USB_WritePacket(0, 0, 0);
@@ -372,6 +609,39 @@ void usb_setup() {
      USB_WritePacket(0, 0, 0);
      USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
      break;
+    #ifdef PANDA
+    case WEBUSB_VENDOR_CODE:
+      switch (setup.b.wIndex.w) {
+        case WEBUSB_REQ_GET_URL:
+          USB_WritePacket(webusb_url_descriptor, min(sizeof(webusb_url_descriptor), setup.b.wLength.w), 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+          break;
+        default:
+          // probably asking for allowed origins, which was removed from the spec
+          USB_WritePacket(0, 0, 0);
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+          break;
+      }
+      break;
+    case MS_VENDOR_CODE:
+      switch (setup.b.wIndex.w) {
+        // winusb 2.0 descriptor from BOS
+        case WINUSB_REQ_GET_DESCRIPTOR:
+          USB_WritePacket_EP0((uint8_t*)winusb_20_desc, min(sizeof(winusb_20_desc), setup.b.wLength.w));
+          break;
+        // Extended Compat ID OS Descriptor
+        case WINUSB_REQ_GET_COMPATID_DESCRIPTOR:
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_compatid_os_desc, min(sizeof(winusb_ext_compatid_os_desc), setup.b.wLength.w));
+          break;
+        // Extended Properties OS Descriptor
+        case WINUSB_REQ_GET_EXT_PROPS_OS:
+          USB_WritePacket_EP0((uint8_t*)winusb_ext_prop_os_desc, min(sizeof(winusb_ext_prop_os_desc), setup.b.wLength.w));
+          break;
+        default:
+          USB_WritePacket_EP0(0, 0);
+      }
+      break;
+    #endif
    default:
      resp_len = usb_cb_control_msg(&setup, resp, 1);
      USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
@@ -682,6 +952,24 @@ void usb_irqhandler(void) {
        break;
    }

+    if (USBx_INEP(0)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
+      #ifdef DEBUG_USB
+      puts("  IN PACKET QUEUE\n");
+      #endif
+
+      if (ep0_txlen != 0 && (USBx_INEP(0)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40) {
+        uint16_t len = min(ep0_txlen, 0x40);
+        USB_WritePacket(ep0_txdata, len, 0);
+        ep0_txdata += len;
+        ep0_txlen -= len;
+        if (ep0_txlen == 0) {
+          ep0_txdata = NULL;
+          USBx_DEVICE->DIEPEMPMSK &= ~1;
+          USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+        }
+      }
+    }
+
    // clear interrupts
    USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT; // Why ep0?
    USBx_INEP(1)->DIEPINT = USBx_INEP(1)->DIEPINT;
--- a/panda/board/get_sdk.sh
+++ b/panda/board/get_sdk.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 sudo apt-get install gcc-arm-none-eabi python-pip
-sudo pip2 install libusb1
+sudo pip2 install libusb1 pycrypto requests
--- a/panda/board/get_sdk_mac.sh
+++ b/panda/board/get_sdk_mac.sh
@@ -2,4 +2,4 @@
 # Need formula for gcc
 brew tap ArmMbed/homebrew-formulae
 brew install python dfu-util arm-none-eabi-gcc
-pip2 install libusb1
+pip2 install libusb1 pycrypto requests
--- a/panda/board/gpio.h
+++ b/panda/board/gpio.h
@@ -72,8 +72,15 @@ void clock_init() {
    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
                   RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
  #else
-    RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
-                   RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
+    #ifdef PEDAL
+      // comma pedal has a 16mhz crystal
+      RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
+                     RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE;
+    #else
+      // NEO board has a 8mhz crystal
+      RCC->PLLCFGR = RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 |
+                     RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLSRC_HSE;
+    #endif
  #endif

  // start PLL
@@ -132,8 +139,13 @@ void set_can_enable(CAN_TypeDef *CAN, int enabled) {
      // CAN1_EN
      set_gpio_output(GPIOC, 1, !enabled);
    #else
-      // CAN1_EN
-      set_gpio_output(GPIOB, 3, enabled);
+      #ifdef PEDAL
+        // CAN1_EN (not flipped)
+        set_gpio_output(GPIOB, 3, !enabled);
+      #else
+        // CAN1_EN
+        set_gpio_output(GPIOB, 3, enabled);
+      #endif
    #endif
  } else if (CAN == CAN2) {
    #ifdef PANDA
@@ -285,6 +297,14 @@ void gpio_init() {
  set_gpio_mode(GPIOC, 2, MODE_ANALOG);
  set_gpio_mode(GPIOC, 3, MODE_ANALOG);

+#ifdef PEDAL
+  // comma pedal has inputs on C0 and C1
+  set_gpio_mode(GPIOC, 0, MODE_ANALOG);
+  set_gpio_mode(GPIOC, 1, MODE_ANALOG);
+  // DAC outputs on A4 and A5
+  //   apparently they don't need GPIO setup
+#endif
+
  // C8: FAN aka TIM3_CH4
  set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);

@@ -443,9 +463,10 @@ void early() {


  if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
+  #ifdef PANDA
    set_esp_mode(ESP_DISABLED);
+  #endif
    set_led(LED_GREEN, 1);
-
    jump_to_bootloader();
  }

--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -104,7 +104,14 @@ int get_health_pkt(void *dat) {

 #ifdef PANDA
  health->current = adc_get(ADCCHAN_CURRENT);
-  health->started = (GPIOA->IDR & (1 << 1)) == 0;
+  int safety_ignition = safety_ignition_hook();
+  if (safety_ignition < 0) {
+    //Use the GPIO pin to determine ignition
+    health->started = (GPIOA->IDR & (1 << 1)) == 0;
+  } else {
+    //Current safety hooks want to determine ignition (ex: GM)
+    health->started = safety_ignition;
+  }
 #else
  health->current = 0;
  health->started = (GPIOC->IDR & (1 << 13)) != 0;
@@ -281,9 +288,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
            break;
          case SAFETY_ELM327:
            can_silent = ALL_CAN_BUT_MAIN_SILENT;
+            can_autobaud_enabled[0] = false;
            break;
          default:
            can_silent = ALL_CAN_LIVE;
+            can_autobaud_enabled[0] = false;
+            can_autobaud_enabled[1] = false;
+            #ifdef PANDA
+              can_autobaud_enabled[2] = false;
+            #endif
            break;
        }
        can_init_all();
@@ -303,6 +316,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
    // **** 0xde: set can bitrate
    case 0xde:
      if (setup->b.wValue.w < BUS_MAX) {
+        can_autobaud_enabled[setup->b.wValue.w] = false;
        can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
        can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
      }
@@ -476,6 +490,11 @@ void __initialize_hardware_early() {
  early();
 }

+void __attribute__ ((noinline)) enable_fpu() {
+  // enable the FPU
+  SCB->CPACR |= ((3UL << 10*2) | (3UL << 11*2));
+}
+
 int main() {
  // shouldn't have interrupts here, but just in case
  __disable_irq();
@@ -501,6 +520,11 @@ int main() {
  puts(is_entering_bootmode ? "  ESP wants bootmode\n" : "  no bootmode\n");
  gpio_init();

+#ifdef PANDA
+  // panda has an FPU, let's use it!
+  enable_fpu();
+#endif
+
  // enable main uart if it's connected
  if (has_external_debug_serial) {
    // WEIRDNESS: without this gate around the UART, it would "crash", but only if the ESP is enabled
@@ -552,6 +576,11 @@ int main() {

  __enable_irq();

+  // if the error interrupt is enabled to quickly when the CAN bus is active
+  // something bad happens and you can't connect to the device over USB
+  delay(10000000);
+  CAN1->IER |= CAN_IER_ERRIE | CAN_IER_LECIE;
+
  // LED should keep on blinking all the time
  uint64_t cnt = 0;

--- a/panda/board/pedal/.gitignore
+++ b/panda/board/pedal/.gitignore
@@ -0,0 +1 @@
+obj/*
--- a/panda/board/pedal/Makefile
+++ b/panda/board/pedal/Makefile
@@ -0,0 +1,59 @@
+# :set noet
+PROJ_NAME = comma
+
+CFLAGS  = -O2 -Wall -std=gnu11 -DPEDAL
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
+CFLAGS += -T../stm32_flash.ld
+
+STARTUP_FILE = startup_stm32f205xx
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+DFU_UTIL = "dfu-util"
+
+# pedal only uses the debug cert
+CERT = ../../certs/debug
+CFLAGS += "-DALLOW_DEBUG"
+
+canflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py $<
+
+usbflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py; sleep 0.5
+	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
+
+recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py --recover; sleep 0.5
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
+
+obj/main.o: main.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/bootstub.o: ../bootstub.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/%.o: ../../crypto/%.c
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
+	SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
+
+obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
+	
+clean:
+	rm -f obj/*
+
--- a/panda/board/pedal/README
+++ b/panda/board/pedal/README
@@ -0,0 +1,28 @@
+This is the firmware for the comma pedal. It borrows a lot from panda.
+
+The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
+
+This is the open source software. Note that it is not ready to use yet.
+
+== Test Plan ==
+
+* Startup
+** Confirm STATE_FAULT_STARTUP
+* Timeout
+** Send value
+** Confirm value is output
+** Stop sending messages
+** Confirm value is passthru after 100ms
+** Confirm STATE_FAULT_TIMEOUT
+* Random values
+** Send random 6 byte messages
+** Confirm random values cause passthru
+** Confirm STATE_FAULT_BAD_CHECKSUM
+* Same message lockout
+** Send same message repeated
+** Confirm timeout behavior
+* Don't set enable
+** Confirm no output
+* Set enable and values
+** Confirm output
+
--- a/panda/board/pedal/main.c
+++ b/panda/board/pedal/main.c
@@ -0,0 +1,295 @@
+//#define DEBUG
+//#define CAN_LOOPBACK_MODE
+//#define USE_INTERNAL_OSC
+
+#include "../config.h"
+
+#include "drivers/drivers.h"
+#include "drivers/llgpio.h"
+#include "gpio.h"
+
+#define CUSTOM_CAN_INTERRUPTS
+
+#include "libc.h"
+#include "safety.h"
+#include "drivers/adc.h"
+#include "drivers/uart.h"
+#include "drivers/dac.h"
+#include "drivers/can.h"
+#include "drivers/timer.h"
+
+#define CAN CAN1
+
+//#define PEDAL_USB
+
+#ifdef PEDAL_USB
+  #include "drivers/usb.h"
+#endif
+
+#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
+uint32_t enter_bootloader_mode;
+
+void __initialize_hardware_early() {
+  early();
+}
+
+// ********************* serial debugging *********************
+
+void debug_ring_callback(uart_ring *ring) {
+  char rcv;
+  while (getc(ring, &rcv)) {
+    putc(ring, rcv);
+  }
+}
+
+#ifdef PEDAL_USB
+
+int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
+void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
+void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
+void usb_cb_enumeration_complete() {}
+
+int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
+  int resp_len = 0;
+  uart_ring *ur = NULL;
+  switch (setup->b.bRequest) {
+    // **** 0xe0: uart read
+    case 0xe0:
+      ur = get_ring_by_number(setup->b.wValue.w);
+      if (!ur) break;
+      if (ur == &esp_ring) uart_dma_drain();
+      // read
+      while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
+                         getc(ur, (char*)&resp[resp_len])) {
+        ++resp_len;
+      }
+      break;
+  }
+  return resp_len;
+}
+
+#endif
+
+// ***************************** honda can checksum *****************************
+
+int can_cksum(uint8_t *dat, int len, int addr, int idx) {
+  int i;
+  int s = 0;
+  for (i = 0; i < len; i++) {
+    s += (dat[i] >> 4); 
+    s += dat[i] & 0xF;
+  }
+  s += (addr>>0)&0xF;
+  s += (addr>>4)&0xF;
+  s += (addr>>8)&0xF;
+  s += idx;
+  s = 8-s;
+  return s&0xF;
+}
+
+// ***************************** can port *****************************
+
+// addresses to be used on CAN
+#define CAN_GAS_INPUT  0x200
+#define CAN_GAS_OUTPUT 0x201
+
+void CAN1_TX_IRQHandler() {
+  // clear interrupt
+  CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+// two independent values
+uint16_t gas_set_0 = 0;
+uint16_t gas_set_1 = 0;
+
+#define MAX_TIMEOUT 10
+uint32_t timeout = 0;
+uint32_t current_index = 0;
+
+#define NO_FAULT 0
+#define FAULT_BAD_CHECKSUM 1
+#define FAULT_SEND 2
+#define FAULT_SCE 3
+#define FAULT_STARTUP 4
+#define FAULT_TIMEOUT 5
+#define FAULT_INVALID 6
+uint8_t state = FAULT_STARTUP;
+
+void CAN1_RX0_IRQHandler() {
+  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    #ifdef DEBUG
+      puts("CAN RX\n");
+    #endif
+    uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
+    if (address == CAN_GAS_INPUT) {
+      // softloader entry
+      if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
+        if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
+          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+          NVIC_SystemReset();
+        } else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
+          enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+          NVIC_SystemReset();
+        }
+      }
+
+      // normal packet
+      uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
+      uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
+      uint16_t value_0 = (dat[0] << 8) | dat[1];
+      uint16_t value_1 = (dat[2] << 8) | dat[3];
+      uint8_t enable = (dat2[0] >> 7) & 1;
+      uint8_t index = (dat2[1] >> 4) & 3;
+      if (can_cksum(dat, 5, CAN_GAS_INPUT, index) == (dat2[1] & 0xF)) {
+        if (((current_index+1)&3) == index) {
+          #ifdef DEBUG
+            puts("setting gas ");
+            puth(value);
+            puts("\n");
+          #endif
+          if (enable) {
+            gas_set_0 = value_0;
+            gas_set_1 = value_1;
+          } else {
+            // clear the fault state if values are 0
+            if (value_0 == 0 && value_1 == 0) {
+              state = NO_FAULT;
+            } else {
+              state = FAULT_INVALID;
+            }
+            gas_set_0 = gas_set_1 = 0;
+          }
+          // clear the timeout
+          timeout = 0;
+        }
+        current_index = index;
+      } else {
+        // wrong checksum = fault
+        state = FAULT_BAD_CHECKSUM;
+      }
+    }
+    // next
+    CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_SCE_IRQHandler() {
+  state = FAULT_SCE;
+  can_sce(CAN);
+}
+
+int pdl0 = 0, pdl1 = 0;
+int pkt_idx = 0;
+
+int led_value = 0;
+
+void TIM3_IRQHandler() {
+  #ifdef DEBUG
+    puth(TIM3->CNT);
+    puts(" ");
+    puth(pdl0);
+    puts(" ");
+    puth(pdl1);
+    puts("\n");
+  #endif
+
+  // check timer for sending the user pedal and clearing the CAN
+  if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
+    uint8_t dat[8];
+    dat[0] = (pdl0>>8)&0xFF;
+    dat[1] = (pdl0>>0)&0xFF;
+    dat[2] = (pdl1>>8)&0xFF;
+    dat[3] = (pdl1>>0)&0xFF;
+    dat[4] = state;
+    dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT, pkt_idx) | (pkt_idx<<4);
+    CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
+    CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
+    CAN->sTxMailBox[0].TDTR = 6;  // len of packet is 5
+    CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
+    ++pkt_idx;
+    pkt_idx &= 3;
+  } else {
+    // old can packet hasn't sent!
+    state = FAULT_SEND;
+    #ifdef DEBUG
+      puts("CAN MISS\n");
+    #endif
+  }
+
+  // blink the LED
+  set_led(LED_GREEN, led_value);
+  led_value = !led_value;
+
+  TIM3->SR = 0;
+
+  // up timeout for gas set
+  if (timeout == MAX_TIMEOUT) {
+    state = FAULT_TIMEOUT;
+  } else {
+    timeout += 1;
+  }
+}
+
+// ***************************** main code *****************************
+
+void pedal() {
+  // read/write
+  pdl0 = adc_get(ADCCHAN_ACCEL0);
+  pdl1 = adc_get(ADCCHAN_ACCEL1);
+
+  // write the pedal to the DAC
+  if (state == NO_FAULT) {
+    dac_set(0, max(gas_set_0, pdl0));
+    dac_set(1, max(gas_set_1, pdl1));
+  } else {
+    dac_set(0, pdl0);
+    dac_set(1, pdl1);
+  }
+
+  // feed the watchdog
+  IWDG->KR = 0xAAAA;
+}
+
+int main() {
+  __disable_irq();
+
+  // init devices
+  clock_init();
+  periph_init();
+  gpio_init();
+
+#ifdef PEDAL_USB
+  // enable USB
+  usb_init();
+#endif
+
+  // pedal stuff
+  dac_init();
+  adc_init();
+
+  // init can
+  can_silent = ALL_CAN_LIVE;
+  can_init(0);
+
+  // 48mhz / 65536 ~= 732
+  timer_init(TIM3, 15);
+  NVIC_EnableIRQ(TIM3_IRQn);
+
+  // setup watchdog
+  IWDG->KR = 0x5555;
+  IWDG->PR = 0;          // divider /4
+  // 0 = 0.125 ms, let's have a 50ms watchdog
+  IWDG->RLR = 400 - 1;
+  IWDG->KR = 0xCCCC;
+
+  puts("**** INTERRUPTS ON ****\n");
+  __enable_irq();
+
+  // main pedal loop
+  while (1) {
+    pedal();
+  }
+
+  return 0;
+}
+
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -1,17 +1,22 @@
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
+int safety_ignition_hook();

 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
 typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
 typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
+typedef int (*ign_hook)();
+typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);

 typedef struct {
  safety_hook_init init;
+  ign_hook ignition;
  rx_hook rx;
  tx_hook tx;
  tx_lin_hook tx_lin;
+  fwd_hook fwd;
 } safety_hooks;

 // This can be set by the safety hooks.
@@ -21,6 +26,10 @@ int controls_allowed = 0;
 #include "safety/safety_defaults.h"
 #include "safety/safety_honda.h"
 #include "safety/safety_toyota.h"
+#ifdef PANDA
+#include "safety/safety_toyota_ipas.h"
+#endif
+#include "safety/safety_gm.h"
 #include "safety/safety_elm327.h"

 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -37,6 +46,16 @@ int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
  return current_hooks->tx_lin(lin_num, data, len);
 }

+// -1 = Disabled (Use GPIO to determine ignition)
+// 0 = Off (not started)
+// 1 = On (started)
+int safety_ignition_hook() {
+  return current_hooks->ignition();
+}
+int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return current_hooks->fwd(bus_num, to_fwd);
+}
+
 typedef struct {
  uint16_t id;
  const safety_hooks *hooks;
@@ -45,15 +64,23 @@ typedef struct {
 #define SAFETY_NOOUTPUT 0
 #define SAFETY_HONDA 1
 #define SAFETY_TOYOTA 2
+#define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
+#define SAFETY_GM 3
+#define SAFETY_HONDA_BOSCH 4
 #define SAFETY_ALLOUTPUT 0x1337
 #define SAFETY_ELM327 0xE327

 const safety_hook_config safety_hook_registry[] = {
  {SAFETY_NOOUTPUT, &nooutput_hooks},
  {SAFETY_HONDA, &honda_hooks},
+  {SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
  {SAFETY_TOYOTA, &toyota_hooks},
  {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
+#ifdef PANDA
+  {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
+#endif
+  {SAFETY_GM, &gm_hooks},
  {SAFETY_ALLOUTPUT, &alloutput_hooks},
  {SAFETY_ELM327, &elm327_hooks},
 };
--- a/panda/board/safety/safety_defaults.h
+++ b/panda/board/safety/safety_defaults.h
@@ -14,11 +14,20 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
  return false;
 }

+static int nooutput_ign_hook() {
+  return -1;
+}
+static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return -1;
+}
+
 const safety_hooks nooutput_hooks = {
  .init = nooutput_init,
  .rx = default_rx_hook,
  .tx = nooutput_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = nooutput_ign_hook,
+  .fwd = nooutput_fwd_hook,
 };

 // *** all output safety mode ***
@@ -35,10 +44,20 @@ static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
  return true;
 }

+static int alloutput_ign_hook() {
+  return -1;
+}
+
+static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return -1;
+}
+
 const safety_hooks alloutput_hooks = {
  .init = alloutput_init,
  .rx = default_rx_hook,
  .tx = alloutput_tx_hook,
  .tx_lin = alloutput_tx_lin_hook,
+  .ignition = alloutput_ign_hook,
+  .fwd = alloutput_fwd_hook,
 };

--- a/panda/board/safety/safety_elm327.h
+++ b/panda/board/safety/safety_elm327.h
@@ -31,9 +31,19 @@ static void elm327_init(int16_t param) {
  controls_allowed = 1;
 }

+static int elm327_ign_hook() {
+  return -1;
+}
+
+static int elm327_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return -1;
+}
+
 const safety_hooks elm327_hooks = {
  .init = elm327_init,
  .rx = elm327_rx_hook,
  .tx = elm327_tx_hook,
  .tx_lin = elm327_tx_lin_hook,
+  .ignition = elm327_ign_hook,
+  .fwd = elm327_fwd_hook,
 };
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -0,0 +1,199 @@
+// board enforces
+//   in-state
+//      accel set/resume
+//   out-state
+//      cancel button
+//      regen paddle
+//      accel rising edge
+//      brake rising edge
+//      brake > 0mph
+
+// gm_: poor man's namespacing
+int gm_brake_prev = 0;
+int gm_gas_prev = 0;
+int gm_speed = 0;
+
+// silence everything if stock ECUs are still online
+int gm_ascm_detected = 0;
+
+int gm_ignition_started = 0;
+
+static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  int bus_number = (to_push->RDTR >> 4) & 0xFF;
+  uint32_t addr;
+  if (to_push->RIR & 4) {
+    // Extended
+    // Not looked at, but have to be separated
+    // to avoid address collision
+    addr = to_push->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_push->RIR >> 21;
+  }
+
+  if (addr == 0x135 && bus_number == 0) {
+    //Gear selector (used for determining ignition)
+    int gear = to_push->RDLR & 0x7;
+    gm_ignition_started = gear > 0; //Park = 0. If out of park, we're "on."
+  }
+
+  // sample speed, really only care if car is moving or not
+  // rear left wheel speed
+  if (addr == 842) {
+    gm_speed = to_push->RDLR & 0xFFFF;
+  }
+
+  // check if stock ASCM ECU is still online
+  if (bus_number == 0 && addr == 715) {
+    gm_ascm_detected = 1;
+    controls_allowed = 0;
+  }
+
+  // ACC steering wheel buttons
+  if (addr == 481) {
+    int buttons = (to_push->RDHR >> 12) & 0x7;
+    // res/set - enable, cancel button - disable
+    if (buttons == 2 || buttons == 3) {
+      controls_allowed = 1;
+    } else if (buttons == 6) {
+      controls_allowed = 0;
+    }
+  }
+
+  // exit controls on rising edge of brake press or on brake press when
+  // speed > 0
+  if (addr == 241) {
+    int brake = (to_push->RDLR & 0xFF00) >> 8;
+    // Brake pedal's potentiometer returns near-zero reading
+    // even when pedal is not pressed
+    if (brake < 10) {
+      brake = 0;
+    }
+    if (brake && (!gm_brake_prev || gm_speed)) {
+       controls_allowed = 0;
+    }
+    gm_brake_prev = brake;
+  }
+
+  // exit controls on rising edge of gas press
+  if (addr == 417) {
+    int gas = to_push->RDHR & 0xFF0000;
+    if (gas && !gm_gas_prev) {
+      controls_allowed = 0;
+    }
+    gm_gas_prev = gas;
+  }
+
+  // exit controls on regen paddle
+  if (addr == 189) {
+    int regen = to_push->RDLR & 0x20;
+    if (regen) {
+      controls_allowed = 0;
+    }
+  }
+}
+
+// all commands: gas/regen, friction brake and steering
+// if controls_allowed and no pedals pressed
+//     allow all commands up to limit
+// else
+//     block all commands that produce actuation
+
+static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+
+  // There can be only one! (ASCM)
+  if (gm_ascm_detected) {
+    return 0;
+  }
+
+  // disallow actuator commands if gas or brake (with vehicle moving) are pressed
+  // and the the latching controls_allowed flag is True
+  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_speed);
+  int current_controls_allowed = controls_allowed && !pedal_pressed;
+
+  uint32_t addr;
+  if (to_send->RIR & 4) {
+    // Extended
+    addr = to_send->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_send->RIR >> 21;
+  }
+
+  // BRAKE: safety check
+  if (addr == 789) {
+    int rdlr = to_send->RDLR;
+    int brake = ((rdlr & 0xF) << 8) + ((rdlr & 0xFF00) >> 8);
+    brake = (0x1000 - brake) & 0xFFF;
+    if (current_controls_allowed) {
+      if (brake > 255) return 0;
+    } else {
+      if (brake != 0) return 0;
+    }
+  }
+
+  // LKA STEER: safety check
+  if (addr == 384) {
+    int rdlr = to_send->RDLR;
+    int steer = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8);
+    int max_steer = 255;
+    if (current_controls_allowed) {
+      // Signed arithmetic
+      if (steer & 0x400) {
+        if (steer < (0x800 - max_steer)) return 0;
+      } else {
+        if (steer > max_steer) return 0;
+      }
+    } else {
+      if (steer != 0) return 0;
+    }
+  }
+
+  // PARK ASSIST STEER: unlimited torque, no thanks
+  if (addr == 823) return 0;
+
+  // GAS/REGEN: safety check
+  if (addr == 715) {
+    int rdlr = to_send->RDLR;
+    int gas_regen = ((rdlr & 0x7F0000) >> 11) + ((rdlr & 0xF8000000) >> 27);
+    int apply = rdlr & 1;
+    if (current_controls_allowed) {
+      if (gas_regen > 3072) return 0;
+    } else {
+      // Disabled message is !engaed with gas
+      // value that corresponds to max regen.
+      if (apply || gas_regen != 1404) return 0;
+    }
+  }
+
+  // 1 allows the message through
+  return true;
+}
+
+static int gm_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+  // LIN is not used in Volt
+  return false;
+}
+
+static void gm_init(int16_t param) {
+  controls_allowed = 0;
+  gm_ignition_started = 0;
+}
+
+static int gm_ign_hook() {
+  return gm_ignition_started;
+}
+
+static int gm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return -1;
+}
+
+const safety_hooks gm_hooks = {
+  .init = gm_init,
+  .rx = gm_rx_hook,
+  .tx = gm_tx_hook,
+  .tx_lin = gm_tx_lin_hook,
+  .ignition = gm_ign_hook,
+  .fwd = gm_fwd_hook,
+};
+
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -8,11 +8,14 @@
 //      brake > 0mph

 // these are set in the Honda safety hooks...this is the wrong place
+const int gas_interceptor_threshold = 328;
 int gas_interceptor_detected = 0;
 int brake_prev = 0;
 int gas_prev = 0;
 int gas_interceptor_prev = 0;
 int ego_speed = 0;
+// TODO: auto-detect bosch hardware based on CAN messages?
+bool bosch_hardware = false;

 static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

@@ -33,22 +36,28 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    }
  }

+  // user brake signal is different for nidec vs bosch hardware
+  // nidec hardware: 0x17C bit 53
+  // bosch hardware: 0x1BE bit 4
+  #define IS_USER_BRAKE_MSG(to_push) (!bosch_hardware ? to_push->RIR>>21 == 0x17C : to_push->RIR>>21 == 0x1BE)
+  #define USER_BRAKE_VALUE(to_push)  (!bosch_hardware ? to_push->RDHR & 0x200000  : to_push->RDLR & 0x10)
  // exit controls on rising edge of brake press or on brake press when
  // speed > 0
-  if ((to_push->RIR>>21) == 0x17C) {
-    // bit 53
-    int brake = to_push->RDHR & 0x200000;
+  if (IS_USER_BRAKE_MSG(to_push)) {
+    int brake = USER_BRAKE_VALUE(to_push);
    if (brake && (!(brake_prev) || ego_speed)) {
      controls_allowed = 0;
    }
    brake_prev = brake;
  }

-  // exit controls on rising edge of gas press if interceptor
-  if ((to_push->RIR>>21) == 0x201) {
+  // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
+  // length check because bosch hardware also uses this id (0x201 w/ len = 8)
+  if ((to_push->RIR>>21) == 0x201 && (to_push->RDTR & 0xf) == 6) {
    gas_interceptor_detected = 1;
    int gas_interceptor = ((to_push->RDLR & 0xFF) << 8) | ((to_push->RDLR & 0xFF00) >> 8);
-    if ((gas_interceptor > 328) && (gas_interceptor_prev <= 328)) {
+    if ((gas_interceptor > gas_interceptor_threshold) &&
+        (gas_interceptor_prev <= gas_interceptor_threshold)) {
      controls_allowed = 0;
    }
    gas_interceptor_prev = gas_interceptor;
@@ -76,7 +85,8 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

  // disallow actuator commands if gas or brake (with vehicle moving) are pressed
  // and the the latching controls_allowed flag is True
-  int pedal_pressed =  gas_prev || gas_interceptor_prev || (brake_prev && ego_speed);
+  int pedal_pressed = gas_prev || (gas_interceptor_prev > gas_interceptor_threshold) ||
+                      (brake_prev && ego_speed);
  int current_controls_allowed = controls_allowed && !(pedal_pressed);

  // BRAKE: safety check
@@ -117,6 +127,15 @@ static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {

 static void honda_init(int16_t param) {
  controls_allowed = 0;
+  bosch_hardware = false;
+}
+
+static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return -1;
+}
+
+static int honda_ign_hook() {
+  return -1;
 }

 const safety_hooks honda_hooks = {
@@ -124,5 +143,28 @@ const safety_hooks honda_hooks = {
  .rx = honda_rx_hook,
  .tx = honda_tx_hook,
  .tx_lin = honda_tx_lin_hook,
+  .ignition = honda_ign_hook,
+  .fwd = honda_fwd_hook,
 };

+static void honda_bosch_init(int16_t param) {
+  controls_allowed = 0;
+  bosch_hardware = true;
+}
+
+static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  if (bus_num == 1 || bus_num == 2) {
+    int addr = to_fwd->RIR>>21;
+    return addr != 0xE4 && addr != 0x33D ? (uint8_t)(~bus_num & 0x3) : -1;
+  }
+  return -1;
+}
+
+const safety_hooks honda_bosch_hooks = {
+  .init = honda_bosch_init,
+  .rx = honda_rx_hook,
+  .tx = honda_tx_hook,
+  .tx_lin = honda_tx_lin_hook,
+  .ignition = honda_ign_hook,
+  .fwd = honda_bosch_fwd_hook,
+};
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -1,6 +1,10 @@
 // track the torque measured for limiting
-int16_t torque_meas[3] = {0, 0, 0};    // last 3 motor torques produced by the eps
-int16_t torque_meas_min = 0, torque_meas_max = 0;
+struct sample_t {
+  int values[3];
+  int min;
+  int max;
+} sample_t_default = {{0, 0, 0}, 0, 0};
+struct sample_t torque_meas;           // last 3 motor torques produced by the eps

 // global torque limit
 const int32_t MAX_TORQUE = 1500;       // max torque cmd allowed ever
@@ -28,37 +32,48 @@ int16_t dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS
 int16_t desired_torque_last = 0;       // last desired steer torque
 int16_t rt_torque_last = 0;            // last desired torque for real time check
 uint32_t ts_last = 0;
+int cruise_engaged_last = 0;           // cruise state
+
+uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
+  return ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
+}
+
+void update_sample(struct sample_t *sample, int sample_new) {
+  for (int i = sizeof(sample->values)/sizeof(sample->values[0]) - 1; i > 0; i--) {
+    sample->values[i] = sample->values[i-1];
+  }
+  sample->values[0] = sample_new;
+
+  // get the minimum and maximum measured torque over the last 3 frames
+  sample->min = sample->max = sample->values[0];
+  for (int i = 1; i < sizeof(sample->values)/sizeof(sample->values[0]); i++) {
+    if (sample->values[i] < sample->min) sample->min = sample->values[i];
+    if (sample->values[i] > sample->max) sample->max = sample->values[i];
+  }
+}

 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  // get eps motor torque (0.66 factor in dbc)
  if ((to_push->RIR>>21) == 0x260) {
-    int torque_meas_new = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));
+    int16_t torque_meas_new_16 = (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF));

    // increase torque_meas by 1 to be conservative on rounding
-    torque_meas_new = (torque_meas_new * dbc_eps_torque_factor / 100) + (torque_meas_new > 0 ? 1 : -1);
+    int torque_meas_new = ((int)(torque_meas_new_16) * dbc_eps_torque_factor / 100) + (torque_meas_new_16 > 0 ? 1 : -1);

-    // shift the array
-    for (int i = sizeof(torque_meas)/sizeof(torque_meas[0]) - 1; i > 0; i--) {
-      torque_meas[i] = torque_meas[i-1];
-    }
-    torque_meas[0] = torque_meas_new;
-
-    // get the minimum and maximum measured torque over the last 3 frames
-    torque_meas_min = torque_meas_max = torque_meas[0];
-    for (int i = 1; i < sizeof(torque_meas)/sizeof(torque_meas[0]); i++) {
-      if (torque_meas[i] < torque_meas_min) torque_meas_min = torque_meas[i];
-      if (torque_meas[i] > torque_meas_max) torque_meas_max = torque_meas[i];
-    }
+    // update array of sample
+    update_sample(&torque_meas, torque_meas_new);
  }

-  // exit controls on ACC off
+  // enter controls on rising edge of ACC, exit controls on ACC off
  if ((to_push->RIR>>21) == 0x1D2) {
    // 4 bits: 55-52
-    if (to_push->RDHR & 0xF00000) {
+    int cruise_engaged = to_push->RDHR & 0xF00000;
+    if (cruise_engaged && !cruise_engaged_last) {
      controls_allowed = 1;
-    } else {
+    } else if (!cruise_engaged) {
      controls_allowed = 0;
    }
+    cruise_engaged_last = cruise_engaged;
  }
 }

@@ -67,6 +82,9 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  // Check if msg is sent on BUS 0
  if (((to_send->RDTR >> 4) & 0xF) == 0) {

+    // no IPAS in non IPAS mode
+    if (((to_send->RIR>>21) == 0x266) || ((to_send->RIR>>21) == 0x167)) return false;
+
    // ACCEL: safety check on byte 1-2
    if ((to_send->RIR>>21) == 0x343) {
      int16_t desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
@@ -99,8 +117,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
        int16_t lowest_allowed_torque = min(desired_torque_last, 0) - MAX_RATE_UP;

        // if we've exceeded the applied torque, we must start moving toward 0
-        highest_allowed_torque = min(highest_allowed_torque, max(desired_torque_last - MAX_RATE_DOWN, max(torque_meas_max, 0) + MAX_TORQUE_ERROR));
-        lowest_allowed_torque = max(lowest_allowed_torque, min(desired_torque_last + MAX_RATE_DOWN, min(torque_meas_min, 0) - MAX_TORQUE_ERROR));
+        highest_allowed_torque = min(highest_allowed_torque, max(desired_torque_last - MAX_RATE_DOWN, max(torque_meas.max, 0) + MAX_TORQUE_ERROR));
+        lowest_allowed_torque = max(lowest_allowed_torque, min(desired_torque_last + MAX_RATE_DOWN, min(torque_meas.min, 0) - MAX_TORQUE_ERROR));

        // check for violation
        if ((desired_torque < lowest_allowed_torque) || (desired_torque > highest_allowed_torque)) {
@@ -121,7 +139,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
        }

        // every RT_INTERVAL set the new limits
-        uint32_t ts_elapsed = ts > ts_last ? ts - ts_last : (0xFFFFFFFF - ts_last) + 1 + ts;
+        uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
        if (ts_elapsed > RT_INTERVAL) {
          rt_torque_last = desired_torque;
          ts_last = ts;
@@ -161,11 +179,21 @@ static void toyota_init(int16_t param) {
  dbc_eps_torque_factor = param;
 }

+static int toyota_ign_hook() {
+  return -1;
+}
+
+static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return -1;
+}
+
 const safety_hooks toyota_hooks = {
  .init = toyota_init,
  .rx = toyota_rx_hook,
  .tx = toyota_tx_hook,
  .tx_lin = toyota_tx_lin_hook,
+  .ignition = toyota_ign_hook,
+  .fwd = toyota_fwd_hook,
 };

 static void toyota_nolimits_init(int16_t param) {
@@ -179,4 +207,6 @@ const safety_hooks toyota_nolimits_hooks = {
  .rx = toyota_rx_hook,
  .tx = toyota_tx_hook,
  .tx_lin = toyota_tx_lin_hook,
+  .ignition = toyota_ign_hook,
+  .fwd = toyota_fwd_hook,
 };
--- a/panda/board/safety/safety_toyota_ipas.h
+++ b/panda/board/safety/safety_toyota_ipas.h
@@ -0,0 +1,193 @@
+// uses tons from safety_toyota
+// TODO: refactor to repeat less code
+
+// IPAS override
+const int32_t IPAS_OVERRIDE_THRESHOLD = 200;  // disallow controls when user torque exceeds this value
+
+struct lookup_t {
+  float x[3];
+  float y[3];
+};
+
+// 2m/s are added to be less restrictive
+const struct lookup_t LOOKUP_ANGLE_RATE_UP = {
+  {2., 7., 17.},
+  {5., .8, .15}};
+
+const struct lookup_t LOOKUP_ANGLE_RATE_DOWN = {
+  {2., 7., 17.},
+  {5., 3.5, .4}};
+
+const float RT_ANGLE_FUDGE = 1.5;     // for RT checks allow 50% more angle change
+const float CAN_TO_DEG = 2. / 3.;      // convert angles from CAN unit to degrees
+
+int ipas_state = 1;                    // 1 disabled, 3 executing angle control, 5 override
+int angle_control = 0;                 // 1 if direct angle control packets are seen
+float speed = 0.;
+
+struct sample_t angle_meas;            // last 3 steer angles
+struct sample_t torque_driver;         // last 3 driver steering torque
+
+// state of angle limits
+int16_t desired_angle_last = 0;        // last desired steer angle
+int16_t rt_angle_last = 0;             // last desired torque for real time check
+uint32_t ts_angle_last = 0;
+
+int controls_allowed_last = 0;
+
+int to_signed(int d, int bits) {
+  if (d >= (1 << (bits - 1))) {
+    d -= (1 << bits);
+  }
+  return d;
+}
+
+// interp function that holds extreme values
+float interpolate(struct lookup_t xy, float x) {
+  int size = sizeof(xy.x) / sizeof(xy.x[0]);
+  // x is lower than the first point in the x array. Return the first point
+  if (x <= xy.x[0]) {
+    return xy.y[0];
+
+  } else {
+    // find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
+    for (int i=0; i < size-1; i++) {
+      if (x < xy.x[i+1]) {
+        float x0 = xy.x[i];
+        float y0 = xy.y[i];
+        float dx = xy.x[i+1] - x0;
+        float dy = xy.y[i+1] - y0;
+        // dx should not be zero as xy.x is supposed ot be monotonic
+        if (dx <= 0.) dx = 0.0001;
+        return dy * (x - x0) / dx + y0;
+      }
+    }
+    // if no such point is found, then x > xy.x[size-1]. Return last point
+    return xy.y[size - 1];
+  }
+}
+
+
+static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  // check standard toyota stuff as well
+  toyota_rx_hook(to_push);
+
+  if ((to_push->RIR>>21) == 0x260) {
+    // get driver steering torque
+    int16_t torque_driver_new = (((to_push->RDLR) & 0xFF00) | ((to_push->RDLR >> 16) & 0xFF));
+
+    // update array of samples
+    update_sample(&torque_driver, torque_driver_new);
+  }
+
+  // get steer angle
+  if ((to_push->RIR>>21) == 0x25) {
+    int angle_meas_new = ((to_push->RDLR & 0xf) << 8) + ((to_push->RDLR & 0xff00) >> 8);
+    uint32_t ts = TIM2->CNT;
+
+    angle_meas_new = to_signed(angle_meas_new, 12);
+
+    // update array of samples
+    update_sample(&angle_meas, angle_meas_new);
+
+    // *** angle real time check
+    // add 1 to not false trigger the violation and multiply by 20 since the check is done every 250ms and steer angle is updated at 80Hz
+    int rt_delta_angle_up = ((int)(RT_ANGLE_FUDGE * (interpolate(LOOKUP_ANGLE_RATE_UP, speed) * 20. * CAN_TO_DEG + 1.)));
+    int rt_delta_angle_down = ((int)(RT_ANGLE_FUDGE * (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * 20. * CAN_TO_DEG + 1.)));
+    int highest_rt_angle = rt_angle_last + (rt_angle_last > 0? rt_delta_angle_up:rt_delta_angle_down);
+    int lowest_rt_angle = rt_angle_last - (rt_angle_last > 0? rt_delta_angle_down:rt_delta_angle_up);
+
+    // every RT_INTERVAL or when controls are turned on, set the new limits
+    uint32_t ts_elapsed = get_ts_elapsed(ts, ts_angle_last);
+    if ((ts_elapsed > RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
+      rt_angle_last = angle_meas_new;
+      ts_angle_last = ts;
+    }
+
+    // check for violation
+    if (angle_control &&
+        ((angle_meas_new < lowest_rt_angle) ||
+         (angle_meas_new > highest_rt_angle))) {
+      controls_allowed = 0;
+    }
+
+    controls_allowed_last = controls_allowed;
+  }
+
+  // get speed
+  if ((to_push->RIR>>21) == 0xb4) {
+    speed = ((float) (((to_push->RDHR) & 0xFF00) | ((to_push->RDHR >> 16) & 0xFF))) * 0.01 / 3.6;
+  }
+
+  // get ipas state
+  if ((to_push->RIR>>21) == 0x262) {
+    ipas_state = (to_push->RDLR & 0xf);
+  }
+
+  // exit controls on high steering override
+  if (angle_control && ((torque_driver.min > IPAS_OVERRIDE_THRESHOLD) ||
+                        (torque_driver.max < -IPAS_OVERRIDE_THRESHOLD) ||
+                        (ipas_state==5))) {
+    controls_allowed = 0;
+  }
+}
+
+static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+
+  // Check if msg is sent on BUS 0
+  if (((to_send->RDTR >> 4) & 0xF) == 0) {
+
+    // STEER ANGLE
+    if (((to_send->RIR>>21) == 0x266) || ((to_send->RIR>>21) == 0x167)) {
+
+      angle_control = 1;   // we are in angle control mode
+      int desired_angle = ((to_send->RDLR & 0xf) << 8) + ((to_send->RDLR & 0xff00) >> 8);
+      int ipas_state_cmd = ((to_send->RDLR & 0xff) >> 4);
+      int16_t violation = 0;
+
+      desired_angle = to_signed(desired_angle, 12);
+
+      if (controls_allowed) {
+        // add 1 to not false trigger the violation
+        int delta_angle_up = (int) (interpolate(LOOKUP_ANGLE_RATE_UP, speed) * CAN_TO_DEG + 1.);
+        int delta_angle_down = (int) (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * CAN_TO_DEG + 1.);
+        int highest_desired_angle = desired_angle_last + (desired_angle_last > 0? delta_angle_up:delta_angle_down);
+        int lowest_desired_angle = desired_angle_last - (desired_angle_last > 0? delta_angle_down:delta_angle_up);
+        if ((desired_angle > highest_desired_angle) || 
+            (desired_angle < lowest_desired_angle)){
+          violation = 1;
+          controls_allowed = 0;
+        }
+      }
+      
+      // desired steer angle should be the same as steer angle measured when controls are off
+      if ((!controls_allowed) && 
+           ((desired_angle < (angle_meas.min - 1)) ||
+            (desired_angle > (angle_meas.max + 1)) ||
+            (ipas_state_cmd != 1))) {
+        violation = 1;
+      }
+
+      desired_angle_last = desired_angle;
+
+      if (violation) {
+        return false;
+      }
+
+      return true;
+    }
+  }
+
+  // check standard toyota stuff as well
+  return toyota_tx_hook(to_send);
+}
+
+const safety_hooks toyota_ipas_hooks = {
+  .init = toyota_init,
+  .rx = toyota_ipas_rx_hook,
+  .tx = toyota_ipas_tx_hook,
+  .tx_lin = toyota_tx_lin_hook,
+  .ignition = toyota_ign_hook,
+  .fwd = toyota_fwd_hook,
+};
+
--- a/panda/board/spi_flasher.h
+++ b/panda/board/spi_flasher.h
@@ -130,6 +130,120 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
  return resp_len;
 }

+#ifdef PEDAL
+
+#define CAN CAN1
+
+#define CAN_BL_INPUT 0x1
+#define CAN_BL_OUTPUT 0x2
+
+void CAN1_TX_IRQHandler() {
+  // clear interrupt
+  CAN->TSR |= CAN_TSR_RQCP0;
+}
+
+#define ISOTP_BUF_SIZE 0x110
+
+uint8_t isotp_buf[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_ptr = NULL;
+int isotp_buf_remain = 0;
+
+uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
+uint8_t *isotp_buf_out_ptr = NULL;
+int isotp_buf_out_remain = 0;
+int isotp_buf_out_idx = 0;
+
+void bl_can_send(uint8_t *odat) {
+  // wait for send
+  while (!(CAN->TSR & CAN_TSR_TME0));
+
+  // send continue
+  CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
+  CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
+  CAN->sTxMailBox[0].TDTR = 8;
+  CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
+}
+
+void CAN1_RX0_IRQHandler() {
+  while (CAN->RF0R & CAN_RF0R_FMP0) {
+    if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
+      uint8_t dat[8];
+      ((uint32_t*)dat)[0] = CAN->sFIFOMailBox[0].RDLR;
+      ((uint32_t*)dat)[1] = CAN->sFIFOMailBox[0].RDHR;
+      uint8_t odat[8];
+      uint8_t type = dat[0] & 0xF0;
+      if (type == 0x30) {
+        // continue
+        while (isotp_buf_out_remain > 0) {
+          // wait for send
+          while (!(CAN->TSR & CAN_TSR_TME0));
+
+          odat[0] = 0x20 | isotp_buf_out_idx;
+          memcpy(odat+1, isotp_buf_out_ptr, 7);
+          isotp_buf_out_remain -= 7;
+          isotp_buf_out_ptr += 7;
+          isotp_buf_out_idx++;
+
+          bl_can_send(odat);
+        }
+      } else if (type == 0x20) {
+        if (isotp_buf_remain > 0) {
+          memcpy(isotp_buf_ptr, dat+1, 7);
+          isotp_buf_ptr += 7;
+          isotp_buf_remain -= 7;
+        }
+        if (isotp_buf_remain <= 0) {
+          int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
+
+          // call the function
+          memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
+          isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
+          isotp_buf_out_ptr = isotp_buf_out;
+          isotp_buf_out_idx = 0;
+
+          // send initial
+          if (isotp_buf_out_remain <= 7) {
+            odat[0] = isotp_buf_out_remain;
+            memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
+          } else {
+            odat[0] = 0x10 | (isotp_buf_out_remain>>8);
+            odat[1] = isotp_buf_out_remain & 0xFF;
+            memcpy(odat+2, isotp_buf_out_ptr, 6);
+            isotp_buf_out_remain -= 6;
+            isotp_buf_out_ptr += 6;
+            isotp_buf_out_idx++;
+          }
+
+          bl_can_send(odat);
+        }
+      } else if (type == 0x10) {
+        int len = ((dat[0]&0xF)<<8) | dat[1];
+
+        // setup buffer
+        isotp_buf_ptr = isotp_buf;
+        memcpy(isotp_buf_ptr, dat+2, 6);
+
+        if (len < (ISOTP_BUF_SIZE-0x10)) {
+          isotp_buf_ptr += 6;
+          isotp_buf_remain = len-6;
+        }
+
+        memset(odat, 0, 8);
+        odat[0] = 0x30;
+        bl_can_send(odat);
+      }
+    }
+    // next
+    CAN->RF0R |= CAN_RF0R_RFOM0;
+  }
+}
+
+void CAN1_SCE_IRQHandler() {
+  can_sce(CAN);
+}
+
+#endif
+
 void soft_flasher_start() {
  puts("\n\n\n************************ FLASHER START ************************\n");

@@ -140,6 +254,20 @@ void soft_flasher_start() {
  RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
  RCC->APB1ENR |= RCC_APB1ENR_USART2EN;

+// pedal has the canloader
+#ifdef PEDAL
+  RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
+
+  // B8,B9: CAN 1
+  set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
+  set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
+  set_can_enable(CAN1, 1);
+
+  // init can
+  can_silent = ALL_CAN_LIVE;
+  can_init(0);
+#endif
+
  // A4,A5,A6,A7: setup SPI
  set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
  set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
--- a/panda/boardesp/elm327.c
+++ b/panda/boardesp/elm327.c
@@ -1157,7 +1157,7 @@ static const elm_protocol_t elm_protocols[] = {
  {false, NA,    104,  elm_process_obd_cmd_J1850,    NULL,              "SAE J1850 VPW",           },
  {false, LIN,   104,  elm_process_obd_cmd_LIN5baud, NULL,              "ISO 9141-2",              },
  {false, LIN,   104,  elm_process_obd_cmd_LIN5baud, NULL,              "ISO 14230-4 (KWP 5BAUD)", },
-  {true,  LIN,   104,  elm_process_obd_cmd_LINFast,  elm_init_LINFast,  "ISO 14230-4 (KWP FAST)",  },
+  {true,  LIN,   104,  elm_process_obd_cmd_LINFast,  NULL,              "ISO 14230-4 (KWP FAST)",  },
  {true,  CAN11, 5000, elm_process_obd_cmd_ISO15765, elm_init_ISO15765, "ISO 15765-4 (CAN 11/500)",},
  {true,  CAN29, 5000, elm_process_obd_cmd_ISO15765, elm_init_ISO15765, "ISO 15765-4 (CAN 29/500)",},
  {true,  CAN11, 2500, elm_process_obd_cmd_ISO15765, elm_init_ISO15765, "ISO 15765-4 (CAN 11/250)",},
--- a/panda/boardesp/proxy.c
+++ b/panda/boardesp/proxy.c
@@ -20,6 +20,9 @@
   _a > _b ? _a : _b; })

 char ssid[32];
+char password[] = "testing123";
+int wifi_secure_mode = 0;
+
 static const int pin = 2;

 // Structure holding the TCP connection information.
@@ -218,11 +221,50 @@ void ICACHE_FLASH_ATTR inter_recv_cb(void *arg, char *pusrdata, unsigned short l
  }
 }

+void ICACHE_FLASH_ATTR wifi_configure(int secure) {
+  wifi_secure_mode = secure;
+
+  // start wifi AP
+  wifi_set_opmode(SOFTAP_MODE);
+  struct softap_config config = {0};
+  wifi_softap_get_config(&config);
+  strcpy(config.ssid, ssid);
+  if (wifi_secure_mode == 0) strcat(config.ssid, "-pair");
+  strcpy(config.password, password);
+  config.ssid_len = strlen(config.ssid);
+  config.authmode = wifi_secure_mode ? AUTH_WPA2_PSK : AUTH_OPEN;
+  config.beacon_interval = 100;
+  config.max_connection = 4;
+  wifi_softap_set_config(&config);
+
+  if (wifi_secure_mode) {
+    // setup tcp server
+    tcp_proto.local_port = 1337;
+    tcp_conn.type = ESPCONN_TCP;
+    tcp_conn.state = ESPCONN_NONE;
+    tcp_conn.proto.tcp = &tcp_proto;
+    espconn_regist_connectcb(&tcp_conn, tcp_connect_cb);
+    espconn_accept(&tcp_conn);
+    espconn_regist_time(&tcp_conn, 60, 0); // 60s timeout for all connections
+
+    // setup inter server
+    inter_proto.local_port = 1338;
+    const char udp_remote_ip[4] = {255, 255, 255, 255};
+    os_memcpy(inter_proto.remote_ip, udp_remote_ip, 4);
+    inter_proto.remote_port = 1338;
+
+    inter_conn.type = ESPCONN_UDP;
+    inter_conn.proto.udp = &inter_proto;
+
+    espconn_regist_recvcb(&inter_conn, inter_recv_cb);
+    espconn_create(&inter_conn);
+  }
+}
+
 void ICACHE_FLASH_ATTR wifi_init() {
  // default ssid and password
  memset(ssid, 0, 32);
-  os_sprintf(ssid, "panda-%08x-BROKEN", system_get_chip_id()); 
-  char password[] = "testing123";
+  os_sprintf(ssid, "panda-%08x-BROKEN", system_get_chip_id());

  // fetch secure ssid and password
  // update, try 20 times, for 1 second
@@ -241,20 +283,11 @@ void ICACHE_FLASH_ATTR wifi_init() {
    }
    os_delay_us(50000);
  }
+  os_printf("Finished getting SID\n");
+  os_printf(ssid);
+  os_printf("\n");

-  // start wifi AP
-  wifi_set_opmode(SOFTAP_MODE);
-  struct softap_config config;
-  wifi_softap_get_config(&config);
-  strcpy(config.ssid, ssid); 
-  strcpy(config.password, password);
-  config.ssid_len = strlen(ssid);
-  config.authmode = AUTH_WPA2_PSK;
-  config.beacon_interval = 100;
-  config.max_connection = 4;
-  wifi_softap_set_config(&config);
-
-  //set IP
+  // set IP
  wifi_softap_dhcps_stop(); //stop DHCP before setting static IP
  struct ip_info ip_config;
  IP4_ADDR(&ip_config.ip, 192, 168, 0, 10);
@@ -265,27 +298,7 @@ void ICACHE_FLASH_ATTR wifi_init() {
  wifi_softap_set_dhcps_offer_option(OFFER_ROUTER, &stupid_gateway);
  wifi_softap_dhcps_start();

-  // setup tcp server
-  tcp_proto.local_port = 1337;
-  tcp_conn.type = ESPCONN_TCP;
-  tcp_conn.state = ESPCONN_NONE;
-  tcp_conn.proto.tcp = &tcp_proto;
-  espconn_regist_connectcb(&tcp_conn, tcp_connect_cb);
-  espconn_accept(&tcp_conn);
-  espconn_regist_time(&tcp_conn, 60, 0); // 60s timeout for all connections
-
-  // setup inter server
-  inter_proto.local_port = 1338;
-  const char udp_remote_ip[4] = {255, 255, 255, 255};
-  os_memcpy(inter_proto.remote_ip, udp_remote_ip, 4);
-  inter_proto.remote_port = 1338;
-
-  inter_conn.type = ESPCONN_UDP;
-  inter_conn.proto.udp = &inter_proto;
-
-  espconn_regist_recvcb(&inter_conn, inter_recv_cb);
-
-  espconn_create(&inter_conn);
+  wifi_configure(0);
 }

 #define LOOP_PRIO 2
@@ -301,7 +314,7 @@ void ICACHE_FLASH_ATTR user_init() {
  gpio_init();

  // configure UART TXD to be GPIO1, set as output
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_GPIO1); 
+  PIN_FUNC_SELECT(PERIPHS_IO_MUX_U0TXD_U, FUNC_GPIO1);
  gpio_output_set(0, 0, (1 << pin), 0);

  // configure SPI
@@ -321,7 +334,7 @@ void ICACHE_FLASH_ATTR user_init() {
  //SPICsPinSelect(SpiNum_HSPI, SpiPinCS_1);

  // configure UART TXD to be GPIO1, set as output
-  PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO5_U, FUNC_GPIO5); 
+  PIN_FUNC_SELECT(PERIPHS_IO_MUX_GPIO5_U, FUNC_GPIO5);
  gpio_output_set(0, 0, (1 << 5), 0);
  gpio_output_set((1 << 5), 0, 0, 0);

--- a/panda/boardesp/webserver.c
+++ b/panda/boardesp/webserver.c
@@ -40,6 +40,7 @@ char OK_header[] = "HTTP/1.0 200 OK\nContent-Type: text/html\n\n";
 static struct espconn web_conn;
 static esp_tcp web_proto;
 extern char ssid[];
+extern int wifi_secure_mode;

 char *st_firmware;
 int real_content_length, content_length = 0;
@@ -205,6 +206,12 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
      } else {
        ets_strcat(resp, "\nesp flash file: user1.bin");
      }
+
+      if (wifi_secure_mode) {
+        ets_strcat(resp, "\nin secure mode");
+      } else {
+        ets_strcat(resp, "\nin INSECURE mode...<a href=\"/secure\">secure it</a>");
+      }
      
      ets_strcat(resp,"\nSet USB Mode:"
        "<button onclick=\"var xhr = new XMLHttpRequest(); xhr.open('GET', 'set_property?usb_mode=0'); xhr.send()\" type='button'>Client</button>"
@@ -215,8 +222,9 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
      
      espconn_send_string(&web_conn, resp);
      espconn_disconnect(conn);
-      
-    } else if (memcmp(data, "GET /set_property?usb_mode=", 27) == 0) {
+    } else if (memcmp(data, "GET /secure", 11) == 0 && !wifi_secure_mode) {
+      wifi_configure(1);
+    } else if (memcmp(data, "GET /set_property?usb_mode=", 27) == 0 && wifi_secure_mode) {
      char mode_value = data[27] - '0';
        if (mode_value >= '\x00' && mode_value <= '\x02') {
          memset(resp, 0, MAX_RESP);
@@ -228,7 +236,7 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
          espconn_send_string(&web_conn, resp);
          espconn_disconnect(conn);
        }  
-    } else if (memcmp(data, "PUT /stupdate ", 14) == 0) {
+    } else if (memcmp(data, "PUT /stupdate ", 14) == 0 && wifi_secure_mode) {
      os_printf("init st firmware\n");
      char *cl = strstr(data, "Content-Length: ");
      if (cl != NULL) {
@@ -244,8 +252,8 @@ static void ICACHE_FLASH_ATTR web_rx_cb(void *arg, char *data, uint16_t len) {
        state = RECEIVING_ST_FIRMWARE;
      }
      
-    } else if ((memcmp(data, "PUT /espupdate1 ", 16) == 0) ||
-               (memcmp(data, "PUT /espupdate2 ", 16) == 0)) {
+    } else if (((memcmp(data, "PUT /espupdate1 ", 16) == 0) ||
+                (memcmp(data, "PUT /espupdate2 ", 16) == 0)) && wifi_secure_mode) {
      // 0x1000   = user1.bin
      // 0x81000  = user2.bin
      // 0x3FE000 = blank.bin
--- a/panda/drivers/windows/ECUsim
+++ b/panda/drivers/windows/ECUsim
@@ -1,7 +1,7 @@
 #pragma once

 #include <string>
-#include "panda\panda.h"
+#include "panda_shared/panda.h"
 #include <queue>

 // The following ifdef block is the standard way of creating macros which make exporting
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	9a9ff839a9	openpilot v0.4.4 release	2018-04-14 06:10:58 +00:00
Vehicle Researcher	4f7336f0e4	Merge opendbc subtree	2018-04-14 06:06:43 +00:00
Vehicle Researcher	f66eb5a0a3	Squashed 'opendbc/' changes from a73f4e8..3d8a815 3d8a815 Toyota Prius: added AUTOPARK_STATUS msg 0894cbc Toyota: added comma specific message that copies 0x266 to be able to control steer angle even if park assist ecu is plugged in b2af0fd Bosch: Adding minor changes to be compatible with 0.4.3.2+ (#89) git-subtree-dir: opendbc git-subtree-split: 3d8a815e1bbccd7cbfe7b5d0b97e8e8b9a9ce60e	2018-04-14 06:06:43 +00:00
Vehicle Researcher	94a27e351f	Merge panda subtree	2018-04-14 06:06:42 +00:00
Vehicle Researcher	e6e6ad2e1f	Squashed 'panda/' changes from 3125232..2253dd3 2253dd3 fix volt ign detect 3b299d7 add ignition and refactor af9af6d Merge pull request #110 from Jamezz/volt 13e850e more correct f295063 add new define to tests fec9758 gate that with debug 5516ebf one more ifdef cac7b31 only panda has float 938d474 fpu enable ffbf0c7 cleaner de30f27 Revert "need f to not be double" 4142acf need f to not be double 3eb15c8 refactor to share code a4c8b64 change to O2 to fix make recover 711fd11 Enable compiler optimizations, fix things it breaks 2e6f774 block IPAS in main toyota safety mode e7a2b3a add ipas tests 894572c fix tests 367c9ad add safety toyota ipas 95919b9 Bounty: panda high quality CAN autobaud (#96) 6557cd2 Toyota Safety: allow controls only on rising edge of cruise_engaged 02c1ddf Revert "added steer override check when IPAS is in control (#106)" 9f925ba Fix the merge mess 23d3833 Merge from comma upstream a0cc51a Undo safety mode override ea1c1dc make wlan interface name generic 6dbd8c9 Implement WebUSB and upgrade WinUSB to 2.0 (#107) 4fc83a5 Add safety hook for ignition and have GM use gear selector to determine ignition 52b2ac0 switch from travis to circleci 48e2374 build panda esp image 065572a circleci build stm image 7a1f319 add panda python package test and fix safety test 021dde7 move saftey test helper files into safety folder ce0545f add ci files 6a3307c no LIN over ELM 7d21acb added steer override check when IPAS is in control (#106) 1c88caf Safety code testing (#104) f4efd1f Merge pull request #101 from adhintz/master c02618b Merge pull request #102 from quillford/master 1ba5f8a added link to wiki for user scripts de2b19e add support for multiple buses to can_unique and can_bittransition output data in sorted order. git-subtree-dir: panda git-subtree-split: 2253dd3c48e21abb82fe161d6f58237490111206	2018-04-14 06:06:42 +00:00
Ted Slesinski	28b8043c5b	2017 Honda Ridgeline (#198 ) * Adds Honda Ridgeline Replaced trim level placeholder Adding 0x301 ridgeline message (I restructured this slightly since we don't need to repeat `commands.append(make_can_msg(0x300, msg_0x300, idx, 1))` so many times Updated dbc name Use pedal_gas to detect gas pressed Remove unnecessary signal check Fix array notation * Tire stiffness factor bumped to 1.5x * Adds safety tests at line 133 * Revert "Adds safety tests at line 133" This reverts commit 349edf5b1a879cac704db3786d0626211497bcb7. * fix failing build due to syntax * update variables for failing build * Update interface.py * Update Tire Slip Factor	2018-04-12 19:12:45 -07:00
Vehicle Researcher	78df63a6af	openpilot v0.4.3.2 release	2018-03-31 07:54:47 +00:00
Vehicle Researcher	a69dfe7b20	Squashed 'opendbc/' changes from 91e882d..a73f4e8 a73f4e8 Toyota: fixed LKA_STATE to be compatible with Corolla and properly generated CH-R dbc git-subtree-dir: opendbc git-subtree-split: a73f4e8b109f5ffbd7f93a19661dfefb81c26812	2018-03-31 07:29:19 +00:00
Vehicle Researcher	d0c9cd28d1	Merge opendbc subtree	2018-03-31 07:29:19 +00:00
vanillagorillaa	9e1cabde36	update year on civic	2018-03-22 23:34:47 +01:00
Willem Melching	c7cd8b4459	fix bug in canpacker for Toyotas with DSU connected (#221 )	2018-03-22 15:13:23 -07:00
Vehicle Researcher	3d628a6fe2	openpilot v0.4.3.1 release	2018-03-19 23:40:24 -07:00
Vehicle Researcher	51fad4a6c6	openpilot v0.4.3 release	2018-03-18 10:36:29 -07:00
Vehicle Researcher	1a8883fb63	Squashed 'opendbc/' changes from aa067f7..91e882d 91e882d Updating bosch dbcs to use new format and bringing in new honda changes (#82) 9b32e2e Fix Checksum errors for CH-R (#86) git-subtree-dir: opendbc git-subtree-split: 91e882d4a04c129e12d39bcff0bbe56b75166e0f	2018-03-18 10:32:25 -07:00
Vehicle Researcher	a70a821d28	Merge opendbc subtree	2018-03-18 10:32:25 -07:00
Vehicle Researcher	a8d110ad74	Squashed 'panda/' changes from 67d5208..3125232 3125232 bump version 703c0b4 Gas Interceptor: another fix to gas pressed logic 196d383 Interceptor: fixed gas pressed logic git-subtree-dir: panda git-subtree-split: 31252324d98e701c33cb6aeda20af6b549175764	2018-03-18 10:32:24 -07:00
Vehicle Researcher	013351a2ee	Merge panda subtree	2018-03-18 10:32:24 -07:00
George Hotz	ad3f0a348a	Merge pull request #192 from gregjhogan/wifi-only-upload-fix fix restricting video upload to wifi	2018-03-17 12:01:42 -07:00
Vehicle Researcher	9a411ebf32	openpilot v0.4.3 release	2018-03-17 00:01:50 -07:00
Vehicle Researcher	4188b54c28	Squashed 'opendbc/' changes from 81d9871..aa067f7 aa067f7 Chevy Volt tweaks (#83) a60c6c4 Toyota: change signal name in EPS_STATUS msg ce70b1a extra setme field toyota LKAS_HUD df2a552 toyota missing ACC_CONTROL checksum 48bb293 Revert "Toyota Prius: added a comma specific message to control the speed sent to the EPS" 5f42439 Toyota Prius: added a comma specific message to control the speed sent to the EPS 6f5e8b6 Pedal Interceptor: fault state VAL moved to _comma efd5f5c add setme to honda ACC_HUD 97fc335 add interceptor to civic 6f40f16 update generator script to allow for multiple imports 9ca956b add setme to toyota STEERING_IPAS e5afa57 run generator for ipas scaling 8bd1182 Toyota IPAS: proper steer angle unit f57511e acceleration pedal for gasPressed c8d1dbc high beams also. likely dashboard message. 9f1c78b high beams for genericToggle f037d42 turn signal lights (and thus hazard lights) b35bb08 turn signals 78986cf Revert "turn signals" ba946c9 turn signals 2af3ecc Speed, braking, and distance signals f40ab87 Set packet lengths, adding steering rate, adjusted speed cd59bfa units for speed_right c2fcce2 speed of right vs left side of car 4ef5fae value table for gear status 97c48e2 tighten up speed bits. brake pressue max comment. a0cbfd1 add gear status PRNDL 0c82865 initial signals for chrysler pacifica 2017 hybrid 5ed0540 add set me to toyota LKAS_HUD aecac5d add set me fields to toyota ACC_HUD 5417013 update toyota ACC_CONTROL fields e91e967 Comma Pedal: made GAS_COMMAND 6 bytes d04434a Comma Pedal: added state byte and enable bit c30b2cd Comma Pedal: sending 2 tracks on 0x200 8f72467 Volt doors and belts status (#70) 60f8b6c add set me to lkas hud honda 3c9e335 fix honda pcm gas message size 7ca471d Add 2018 Toyota CHR dbc (#78) 637fe00 set scaling to 1 for brake and gas which have no real unit 62a88d4 Volt: switch to parsing ACC buttons from powertrain CAN (#74) 3fdd47b Volt's gas pedal only and combined gas/acc (#76) 45ec9c9 Add 2017 Honda Ridgeline (#77) cbd186a Add 2018 Camry Hybrid DBC's (#73) 974eeaf Toyota: re-generated the files after cfbc9ae363f98ef 19ea195 Toyota: more vals for LKA_STATE cfbc9ae fixed inconsistent factor for speed in Honda dbc files e7db803 convert all line endings to unix style git-subtree-dir: opendbc git-subtree-split: aa067f7079aa12617f7a37d85233e51af44e1bb2	2018-03-16 23:57:47 -07:00
Vehicle Researcher	19010d3766	Merge opendbc subtree	2018-03-16 23:57:47 -07:00
Vehicle Researcher	02968cda63	Merge panda subtree	2018-03-16 23:57:46 -07:00
Vehicle Researcher	098e304118	Squashed 'panda/' changes from 98f29a4..67d5208 67d5208 fix signedness issue in toyota safety fe15d3f bump pandacan 11c2b08 add fault invalid 2c26e45 add sleep 27c7637 forgot the counter 3a6d7db don't hang bfa7d2e canloader works b259e2a can flasher is close to working 83f2edf isotp can support in softloader 7ae7c79 typo e85cc47 forgot the selfs 190b4f6 start work on canflasher 5c655c9 add recover support ae3457f usbflash is reliable f7a0ab0 pedal usbflash works 585d0f9 add way to call isotp be82899 despite it being bad code, move isotp 000715b start work on pedal canloader 626e312 pedal has a bootstub now 3662d1e redundant check 81e6b0d fix bug 083cd12 should have bounty to refactor that ish b65d30c bad asserts b2e6c3f isotp untested support for subaddr 30fd66a Merge pull request #93 from vntarasov/volt 06f5109 Merge pull request #94 from gregjhogan/can-printer-hex c7d098c Merge pull request #95 from gregjhogan/setup-script 22fe250 Merge pull request #99 from gregjhogan/bit-transition-example ba16ba3 Merge pull request #100 from gregjhogan/j2534-troubleshooting-instructions ad08ea4 Merge pull request #90 from gregjhogan/can-forwarding f3b6f5d added j2534 troubleshooting instructions 858d150 added script to find bits that transition from 0 to 1 c6acac8 added checking pedal interceptor message length f7226ff added brake safety checks d0c2634 added gas safety checks d378e4a removed bosch safety forwarding restriction on 29 bit addresses 5c7ef9e added bosch safety hooks and forwarding 90c64b6 add note 23de8d4 Merge pull request #97 from commaai/pedal_improvements 0261641 added missing python packages b92b235 fix bytearray encode issue 2434f1c Tweak Volt's brake pedal stickiness e2f73d2 enable has a whole byte to itself d5a9e1e correct checksum f8ed9fa better names 986a14c don't alias pointers 9b8472e add watchdog support 8f0add9 handle faults 1d917f8 split gas set into 2 values, and have a fault state 1b77026 j2534 isn't alpha anymore fbcc872 Merge pull request #92 from commaai/pedal 8a6f44b pedal is sending messages 08f464c python 3 bro is bad bro 9390961 kline checksum algo was broken... 3b7c33b add kline debug support aa622bc init values 631ea9f better refactor eb1fd75 add PEDAL adc sets ccaa310 don't build with usb 8d4d763 debug console works bd09883 comma pedal is building 75a29d5 Merge pull request #84 from gregjhogan/j2534-hds eece37d only the panda has gmlan 9f43abe Merge pull request #89 from vntarasov/volt 5364d43 Merge pull request #88 from vntarasov/smaller-firmware 377a1ec bump version for descriptor fix 4fabdf0 Merge pull request #87 from gregjhogan/usb-multi-packet-control 8580773 fix sending WinUSB Extended Properties Feature Descriptor 6908feb Chevy Volt safety 786a004 Enable optimization to reduce firmware size d70f43b hack to fix thinkpad 95ab1ae fixed flow control message padding bbd04d1 updated installer 62216d0 single standalone DLL for J2534 driver 5c9138d fixed 11 bit address issue f3b0ad2 fix LOOPBACK getting set when DATA_RATE is set b750d36 updated README a9a097f lowered CPU utilization 7c26a70 TIS needs unsupported protocols to return an error 42692b4 TIS doesn't like ChannelID being zero cf126bb SET_CONFIG return error for reserved parameters 2e99dbf fix HDS issues 8203cc8 add is_grey e946a54 add insecure_okay flag 4363b3e check webpage 4f59ded add secure mode note 6b11fb5 add autosecuring to tests b27d185 Merge pull request #86 from commaai/better_pairing 4b53b42 elm wifi isn't an automated test 99f85cb Merge pull request #85 from gregjhogan/usb-wcid 0d38060 auto-install WinUSB device driver c6653ca from python import 38cc0ee add wifi_secure_mode, boots in insecure mode git-subtree-dir: panda git-subtree-split: 67d52089a1300b86800d897f2b271e0a24cf6dd6	2018-03-16 23:57:45 -07:00
Mark Krieger	650c45dcc5	Slight changes to UI and Fingerprint for Odyssey Elite (#196 ) * Adding back drive time to UI * Add fingerprint for Odyssey Elite * Removed extended fingerprint for Elite * Revert "Adding back drive time to UI" This reverts commit b9b02f7ff2511f28922f0bea47cd8c70bb9f4010.	2018-03-16 21:28:50 -07:00
Vasily Tarasov	93f55f3ccf	Interpolate ki/kp for steering PID loop (#200 ) * Interpolate ki/kp for steering PID loop Very much needed for the Volt port: car ping-pongs with low kp on high speeeds, and the loop is unstable with high kp on low speeds. Also, removes "number or array?" logic from PIController, now that all the callers use interpolation ofr ki/kp. * Pass speed to steering PID loop for ki/kp interpolation * Remove unused numbers import	2018-03-15 13:28:15 -07:00
arne182	569db3c1d2	Update fingerprints.py (#210 ) Consolidated my fingerprint and removed duplicates and ordered the fingerprint for the RAV4H. Double Checked.	2018-03-09 13:34:39 -08:00
George Hotz	26d97d3374	Merge pull request #203 from energee/safety-honda-bosch Safety Reference for Honda Bosch	2018-03-08 08:33:31 -08:00
Ted Slesinski	3acfa1b39b	Safety Reference for Honda Bosch	2018-02-28 10:24:05 -05:00
George Hotz	bbc67f8506	Merge pull request #202 from vntarasov/volt-gm-id Dibs on SAFETY_GM numerical value	2018-02-27 22:58:02 -08:00
Vasily Tarasov	8343b56870	Dibs on SAFETY_GM numerical value To match Panda repo.	2018-02-26 10:22:19 -08:00
Greg Hogan	008d900f81	fix restricting video upload to wifi	2018-02-10 09:31:56 -06:00
vanillagorillaa	32e5d6cd15	Honda Pilot 2017 Port (#161 ) * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update interface.py * Update interface.py * Update README.md * Update README.md * Update README.md * Update fingerprints.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update hondacan.py * Update README.md * Update fingerprints.py * Update carstate.py * Update carstate.py * Update carstate.py * Update hondacan.py * Update interface.py * Update carstate.py * Update carstate.py * Update Pilot Fingerprint * Update fingerprints.py * Give pilot its own definition and not use ILX * add pilot argument * Add Pilot interface * Add pilot argument * Update interface.py * Parse Different gear on pilot * Add steer max * Fixed duplication of steer max value * Adjust PID's for steering * Update carcontroller.py * Change Steer Ratio and wheelbase * Update Steer fault values Steer fault value of 3, does not seem to effect anything * Update Kp,Ki Ratio * Update interface.py * Update readme for Pilot * add pilot * Update fingerprints.py * Update carstate.py * add signals * add signal	2018-02-09 12:50:37 -08:00