openpilot v0.5.4 release

Merge opendbc subtree
Squashed 'opendbc/' changes from af7fff8..42f8c12
2026-06-12 16:15:33 +08:00 · 2018-09-25 00:13:41 -07:00 · 2018-09-25 00:04:00 -07:00 · 2018-09-25 00:04:00 -07:00 · 2018-09-25 00:03:58 -07:00 · 2018-09-25 00:03:58 -07:00
248 changed files with 11118 additions and 1454 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -20,8 +20,6 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-lane.cpp
-loc*.cpp
 config.json
 clcache

@@ -30,6 +28,7 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
+selfdrive/test/tests/plant/out
 /src/

 one
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -8,11 +8,11 @@ Most open source development activity is coordinated through our [slack](https:/

 * 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
+ * Fork [our repositories](https://github.com/commaai) 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)
+We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.

-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)
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)

--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -2,7 +2,7 @@ FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1

 RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
-RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
+RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2

 COPY requirements_openpilot.txt /tmp/
 RUN pip install -r /tmp/requirements_openpilot.txt
@@ -17,3 +17,5 @@ COPY ./phonelibs /tmp/openpilot/phonelibs
 COPY ./pyextra /tmp/openpilot/pyextra

 RUN mkdir -p /tmp/openpilot/selfdrive/test/out
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
+RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/RTQYufz.jpg)](#)
+[![](https://i.imgur.com/VlKV6V8.png)](#)

 Welcome to openpilot
 ======
@@ -10,7 +10,7 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
 Community
 ------

-openpilot is supported by [comma.ai](https://comma.ai/).
+openpilot is developed by [comma.ai](https://comma.ai/) and users like you.

 We have a [Twitter you should follow](https://twitter.com/comma_ai).

@@ -41,57 +41,72 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
 Supported Cars
 ------

-| Make    | Model                  | Supported Package    | Lateral | Longitudinal | No Accel Below  | No Steer Below |
-| ------- | ---------------------- | -------------------- | ------- | ------------ | --------------  | -------------- |
-| Acura   | ILX 2016               | AcuraWatch Plus      | Yes     | Yes          | 25mph*          | 12mph          |
-| Acura   | ILX 2017               | AcuraWatch Plus      | Yes     | Yes          | 25mph*          | 12mph          |
-| Acura   | RDX 2018               | AcuraWatch Plus      | Yes     | Yes          | 25mph*          | 12mph          |
-| GM      | Volt 2017              | Driver Confidence II | Yes     | Yes          | 0mph            | 0mph           |
-| GM      | Volt 2018              | Driver Confidence II | Yes     | Yes          | 0mph            | 0mph           |
-| Honda   | Accord 2018            | All                  | Yes     | Stock        | 0mph            | 3mph           |
-| Honda   | Civic 2016 *(Sedan)*   | Honda Sensing        | Yes     | Yes          | 0mph            | 12mph          |
-| Honda   | Civic 2017 *(Sedan)*   | Honda Sensing        | Yes     | Yes          | 0mph            | 12mph          |
-| Honda   | Civic 2017 *(Hatch)*   | Honda Sensing        | Yes     | Stock        | 0mph            | 12mph          |
-| Honda   | Civic 2018 *(Sedan)*   | Honda Sensing        | Yes     | Yes          | 0mph            | 12mph          |
-| Honda   | CR-V 2015              | Honda Sensing        | Yes     | Yes          | 25mph*          | 12mph          |
-| Honda   | CR-V 2016              | Honda Sensing        | Yes     | Yes          | 25mph*          | 12mph          |
-| Honda   | CR-V 2017              | Honda Sensing        | Yes     | Stock        | 0mph            | 12mph          |
-| Honda   | CR-V 2018              | Honda Sensing        | Yes     | Stock        | 0mph            | 12mph          |
-| Honda   | Odyssey 2017           | Honda Sensing        | Yes     | Yes          | 25mph*          | 12mph          |
-| Honda   | Odyssey 2018           | Honda Sensing        | Yes     | Yes          | 25mph*          | 12mph          |
-| Honda   | Pilot 2017             | Honda Sensing        | Yes     | Yes          | 25mph*          | 12mph          |
-| Honda   | Pilot 2018             | Honda Sensing        | Yes     | Yes          | 25mph*          | 12mph          |
-| Honda   | Ridgeline 2017         | Honda Sensing        | Yes     | Yes          | 25mph*          | 12mph          |
-| Honda   | Ridgeline 2018         | Honda Sensing        | Yes     | Yes          | 25mph*          | 12mph          |
-| Lexus   | RX Hybrid 2017         | All                  | Yes     | Yes          | 0mph            | 0mph           |
-| Lexus   | RX Hybrid 2018         | All                  | Yes     | Yes          | 0mph            | 0mph           |
-| Toyota  | Corolla 2017           | All                  | Yes     | Yes          | 20mph           | 0mph           |
-| Toyota  | Corolla 2018           | All                  | Yes     | Yes          | 20mph           | 0mph           |
-| Toyota  | Prius 2016             | TSS-P                | Yes     | Yes          | 0mph            | 0mph           |
-| Toyota  | Prius 2017             | All                  | Yes     | Yes          | 0mph            | 0mph           |
-| Toyota  | Prius 2018             | All                  | Yes     | Yes          | 0mph            | 0mph           |
-| Toyota  | Prius Prime 2017       | All                  | Yes     | Yes          | 0mph            | 0mph           |
-| Toyota  | Prius Prime 2018       | All                  | Yes     | Yes          | 0mph            | 0mph           |
-| Toyota  | Rav4 2016              | TSS-P                | Yes     | Yes          | 20mph           | 0mph           |
-| Toyota  | Rav4 2017              | All                  | Yes     | Yes          | 20mph           | 0mph           |
-| Toyota  | Rav4 2018              | All                  | Yes     | Yes          | 20mph           | 0mph           |
-| Toyota  | Rav4 Hybrid 2017       | All                  | Yes     | Yes          | 0mph            | 0mph           |
-| Toyota  | Rav4 Hybrid 2018       | All                  | Yes     | Yes          | 0mph            | 0mph           |
+| Make               | Model                 | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| -------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
+| Acura              | ILX 2016              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura              | ILX 2017              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura              | RDX 2018              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| GM<sup>3</sup>     | Volt 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| GM<sup>3</sup>     | Volt 2018             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Honda              | Accord 2018           | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda              | Civic 2016            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda              | Civic 2017            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda              | Civic 2017 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda              | Civic 2018            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda              | Civic 2018 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda              | CR-V 2015             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | CR-V 2016             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | CR-V 2017             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda              | CR-V 2018             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda              | Odyssey 2017          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda              | Odyssey 2018          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda              | Odyssey 2019          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda              | Pilot 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | Pilot 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | Pilot 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | Ridgeline 2017        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda              | Ridgeline 2018        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Hyundai<sup>6</sup>| Santa Fe 2019         | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Hyundai<sup>6</sup>| Elantra 2017          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          |
+| Hyundai<sup>6</sup>| Genesis 2018          | All                  | Yes     | Stock          | 19mph            | 34mph          |
+| Kia<sup>6</sup>    | Sorento 2018          | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Kia<sup>6</sup>    | Stinger 2018          | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           |
+| Lexus              | RX Hybrid 2017        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus              | RX Hybrid 2018        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Camry 2018<sup>4</sup>| All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
+| Toyota             | C-HR 2018<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota             | Corolla 2017          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Corolla 2018          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Highlander Hybrid 2018| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius 2016            | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius Prime 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Prius Prime 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Rav4 2016             | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Rav4 2017             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Rav4 2018             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
+| Toyota             | Rav4 Hybrid 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota             | Rav4 Hybrid 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |

-
-*[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***  
+<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)  
+<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)  
+<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).  
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.  
+<sup>6</sup>Giraffe is under development: architecture similar to Toyota giraffe, with an extra 120Ohm resistor on bus 3.

 Community Maintained Cars
 ------

-| Make    | Model                  | Supported Package    | Lateral | Longitudinal | No Accel Below  | No Steer Below	|
-| ------- | -----------------------| -------------------- | ------- | ------------ | -----------     | ------------ |
-| Tesla   | Model S 2012           | All                  | Yes     | Not yet      | Not applicable  | 0mph         |
-| Tesla   | Model S 2013           | All                  | Yes     | Not yet      | Not applicable  | 0mph         |
+| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
+| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |

-[[Tesla Pull Request]](https://github.com/commaai/openpilot/pull/246)
+[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).

-*Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
+Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

 In Progress Cars
 ------
@@ -101,13 +116,15 @@ In Progress Cars
 - All LSS-P Lexus with Steering Assist or Lane Keep Assist.
  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
  - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
+- All Hyundai with SmartSense.
+- All Kia with SCC and LKAS.

 How can I add support for my car?
 ------

 If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.

-We've written a [porting guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for Toyota that might help you after you have the basics figured out.
+We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.

 - BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
 - We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
@@ -174,7 +191,7 @@ Contributing
 ------

 We welcome both pull requests and issues on
-[github](http://github.com/commaai/openpilot). Bug fixes and new car support encouraged.
+[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.

 Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)

--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,36 @@
+Version 0.5.4 (2018-09-25)
+========================
+ * New Driving Model
+ * New Driver Monitoring Model
+ * Improve longitudinal mpc in mid-low speed braking
+ * Honda Accord hybrid support thanks to energee!
+ * Ship mpc binaries and sensibly reduce build time
+ * Calibration more stable
+ * More Hyundai and Kia cars supported thanks to emmertex!
+ * Various GM Volt improvements thanks to vntarasov!
+
+Version 0.5.3 (2018-09-03)
+========================
+ * Hyundai Santa Fe support!
+ * Honda Pilot 2019 support thanks to energee!
+ * Toyota Highlander support thanks to daehahn!
+ * Improve steering tuning for Honda Odyssey
+
+Version 0.5.2 (2018-08-16)
+========================
+ * New calibration: more accurate, a lot faster, open source!
+ * Enable orbd
+ * Add little endian support to CAN packer
+ * Fix fingerprint for Honda Accord 1.5T
+ * Improve driver monitoring model
+
+Version 0.5.1 (2018-08-01)
+========================
+ * Fix radar error on Civic sedan 2018
+ * Improve thermal management logic
+ * Alpha Toyota C-HR and Camry support!
+ * Auto-switch Driver Monitoring to 3 min counter when inaccurate
+
 Version 0.5 (2018-07-11)
 ========================
 * Driver Monitoring (beta) option in settings!
--- a/SAFETY.md
+++ b/SAFETY.md
@@ -6,7 +6,10 @@ Like other ACC and LKA systems, openpilot requires the driver to be alert and to
 pay attention at all times. We repeat, **driver alertness is necessary, but not 
 sufficient, for openpilot to be used safely**.

-Even with an attentive driver, we must make further efforts for the system to be
+In order to enforce driver alertness, openpilot includes a driver monitoring feature
+that alerts the driver when distracted.
+
+However, even with an attentive driver, we must make further efforts for the system to be
 safe. We have designed openpilot with two other safety considerations.

 1. The driver must always be capable to immediately retake manual control of the vehicle, 
@@ -20,7 +23,7 @@ Following are details of the car specific safety implementations:
 Honda/Acura
 ------

-  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
    the stock system.

  - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
@@ -28,16 +31,16 @@ Honda/Acura
    interceptor, the gas is clipped to 60%.

  - The brake is controlled by the 0x1FA CAN message. This message allows full
-    braking, although the board and the software clip it to 1/4th of the max.
-    This is around .3g of braking.
+    braking, although the panda firmware and openpilot clip it to 1/4th of the max.
+    This is approximately 0.3g of braking.

  - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
    controller in the car limits the torque to a very small amount, so regardless of the 
    message, the controller cannot jerk the wheel.

  - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
-    either signal triggers a disengagement, which is enforced by the board and in software. The
-    green led on the board signifies if the board is allowing control messages.
+    either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
+    white led on the panda signifies if the panda is allowing control messages.

  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
    replay of the same message.
@@ -45,29 +48,62 @@ Honda/Acura
 Toyota/Lexus
 ------

-  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
    the stock system.

-  - With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled 
-    by the stock system and is subject to the stock adaptive cruise control limits. Without the
-    stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
-    value is limited by the board and the software to between .3g of deceleration and .15g of
-    acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
-    cruise control system is disengaged.
+  - With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
+    the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
+    control limits. Without the stock DSU connected, the acceleration command is controlled by the
+    0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
+    by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
+    Module (ECM) while the cruise control system is disengaged.

-  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
-    software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
-    commands outside these limits.  A steering torque rate limit is enforced by the board and in
-    software so that the commanded steering torque must rise from 0 to max value no faster than
-    1.5s. Commanded steering torque is limited by the board and in software to be no more than 350
+  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
    units above the actual EPS generated motor torque to ensure limited differences between
    commanded and actual torques.

  - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
-    respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
-    board and in software. Additionally, the cruise control system disengages on the rising edge of
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
    the brake pedal pressed signal.

  - The cruise control system state is contained in the 0x1D2 message. No control messages are
-    allowed if the cruise control system is not active. This is enforced by the software and the
-    board. The green led on the board signifies if the board is allowing control messages.
+    allowed if the cruise control system is not active. This is enforced by openpilot and the
+    panda firmware. The white led on the panda signifies if the panda is allowing control messages.
+
+GM/Chevrolet
+------
+
+  - While the system is engaged, gas, brake and steer commands are subject to the same limits used by
+    the stock system.
+
+  - The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
+    openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
+    while 3072 correspond to approximately 0.18g of acceleration from stop.
+
+  - The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
+    and openpilot to 350. This is approximately 0.3g of braking.
+
+  - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
+    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
+    panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
+    regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
+
+  - GM CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+  not fully meeting the above requirements.
--- 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/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -42,7 +42,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
-    calibrationInProgress @20;
+    calibrationIncomplete @20;
    calibrationInvalid @21;
    controlsMismatch @22;
    pcmEnable @23;
@@ -63,6 +63,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    promptDriverDistracted @38;
    driverDistracted @39;
    geofence @40;
+    driverMonitorOn @41;
+    driverMonitorOff @42;
+    preDriverUnresponsive @43;
+    promptDriverUnresponsive @44;
+    driverUnresponsive @45;
+    belowSteerSpeed @46;
+    calibrationProgress @47;
+    lowBattery @48;
  }
 }

@@ -279,6 +287,7 @@ struct CarParams {
  enableApgs @28 :Bool; # advanced parking guidance system

  minEnableSpeed @17 :Float32;
+  minSteerSpeed @49 :Float32;
  safetyModel @18 :Int16;
  safetyParam @41 :Int16;

@@ -302,6 +311,9 @@ struct CarParams {
    hondaBosch @5;
    ford @6;
    cadillac @7;
+    hyundai @8;
+    chrysler @9;
+    tesla @10;
  }

  # things about the car in the manual
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -21,6 +21,8 @@ struct Map(Key, Value) {

 struct InitData {
  kernelArgs @0 :List(Text);
+  kernelVersion @15 :Text;
+
  gctx @1 :Text;
  dongleId @2 :Text;

@@ -32,6 +34,7 @@ struct InitData {

  androidBuildInfo @5 :AndroidBuildInfo;
  androidSensors @6 :List(AndroidSensor);
+  androidProperties @16 :Map(Text, Text);
  chffrAndroidExtra @7 :ChffrAndroidExtra;
  iosBuildInfo @14 :IosBuildInfo;

@@ -39,6 +42,7 @@ struct InitData {

  dirty @9 :Bool;
  passive @12 :Bool;
+  params @17 :Map(Text, Text);

  enum DeviceType {
    unknown @0;
@@ -183,6 +187,10 @@ struct SensorEventData {
    iOS @1;
    fiber @2;
    velodyne @3;  # Velodyne IMU
+    # c3 sensors below
+    bno055 @4;
+    lsm6ds3 @5;
+    bmp280 @6;
  }
 }

@@ -259,6 +267,8 @@ struct ThermalData {
  freeSpace @7 :Float32;
  batteryPercent @8 :Int16;
  batteryStatus @9 :Text;
+  batteryCurrent @15 :Int32;
+  batteryVoltage @16 :Int32;
  usbOnline @12 :Bool;

  fanSpeed @10 :UInt16;
@@ -266,6 +276,7 @@ struct ThermalData {
  startedTs @13 :UInt64;

  thermalStatus @14 :ThermalStatus;
+  chargerDisabled @17 :Bool;

  enum ThermalStatus {
    green @0;   # all processes run
@@ -324,17 +335,21 @@ struct Live20Data {
    aLeadK @9 :Float32;
    fcw @10 :Bool;
    status @11 :Bool;
+    aLeadTau @12 :Float32;
  }
 }

 struct LiveCalibrationData {
+  # deprecated
  warpMatrix @0 :List(Float32);
+  # camera_frame_from_model_frame
  warpMatrix2 @5 :List(Float32);
  calStatus @1 :Int8;
  calCycle @2 :Int32;
  calPerc @3 :Int8;

-  # Maps car space to normalized image space.
+  # view_frame_from_road_frame
+  # ui's is inversed needs new
  extrinsicMatrix @4 :List(Float32);
 }

@@ -399,6 +414,7 @@ struct Live100Data {
  angleOffset @27 :Float32;
  gpsPlannerActive @40 :Bool;
  engageable @41 :Bool;  # can OP be engaged?
+  driverMonitoringOn @43 :Bool;

  enum ControlState {
    disabled @0;
@@ -1533,6 +1549,13 @@ struct OrbKeyFrame {
 struct DriverMonitoring {
  frameId @0 :UInt32;
  descriptor @1 :List(Float32);
+  std @2 :Float32;
+}
+
+struct Boot {
+  wallTimeNanos @0 :UInt64;
+  lastKmsg @1 :Data;
+  lastPmsg @2 :Data;
 }

 struct Event {
@@ -1599,5 +1622,6 @@ struct Event {
    uiLayoutState @57 :UiLayoutState;
    orbFeaturesSummary @58 :OrbFeaturesSummary;
    driverMonitoring @59 :DriverMonitoring;
+    boot @60 :Boot;
  }
 }
--- a/common/dbc.py
+++ b/common/dbc.py
@@ -1,10 +1,9 @@
 import re
 import os
 import struct
-import bitstring
 import sys
 import numbers
-from collections import namedtuple
+from collections import namedtuple, defaultdict

 def int_or_float(s):
  # return number, trying to maintain int format
@@ -17,6 +16,7 @@ DBCSignal = namedtuple(
  "DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
                "factor", "offset", "tmin", "tmax", "units"])

+
 class dbc(object):
  def __init__(self, fn):
    self.name, _ = os.path.splitext(os.path.basename(fn))
@@ -28,6 +28,7 @@ class dbc(object):
    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+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
+    val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")

    # A dictionary which maps message ids to tuples ((name, size), signals).
    #   name is the ASCII name of the message.
@@ -36,6 +37,9 @@ class dbc(object):
    # signals is a list of DBCSignal in order of increasing start_bit.
    self.msgs = {}

+    # A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
+    self.def_vals = defaultdict(list)
+
    # lookup to bit reverse each byte
    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]

@@ -81,6 +85,30 @@ class dbc(object):
          DBCSignal(sgname, start_bit, signal_size, is_little_endian,
                    is_signed, factor, offset, tmin, tmax, units))

+      if l.startswith("VAL_ "):
+        # new signal value/definition
+        dat = val_regexp.match(l)
+
+        if dat is None:
+          print "bad VAL", l
+        ids = int(dat.group(1), 0) # could be hex
+        sgname = dat.group(2)
+        defvals = dat.group(3)
+
+        defvals = defvals.replace("?","\?") #escape sequence in C++
+        defvals = defvals.split('"')[:-1]
+
+        defs = defvals[1::2]
+        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
+        for i,d in enumerate(defs):
+          d = defs[i].strip().upper()
+          defs[i] = d.replace(" ","_")
+
+        defvals[1::2] = defs
+        defvals = '"'+"".join(str(i) for i in defvals)+'"'
+
+        self.def_vals[ids].append((sgname, defvals))
+
    for msg in self.msgs.viewvalues():
      msg[1].sort(key=lambda x: x.start_bit)

@@ -94,6 +122,16 @@ class dbc(object):
      msg_id = self.msg_name_to_address[msg_id]
    return msg_id

+  def reverse_bytes(self, x):
+    return ((x & 0xff00000000000000) >> 56) | \
+           ((x & 0x00ff000000000000) >> 40) | \
+           ((x & 0x0000ff0000000000) >> 24) | \
+           ((x & 0x000000ff00000000) >> 8) | \
+           ((x & 0x00000000ff000000) << 8) | \
+           ((x & 0x0000000000ff0000) << 24) | \
+           ((x & 0x000000000000ff00) << 40) | \
+           ((x & 0x00000000000000ff) << 56)
+
  def encode(self, msg_id, dd):
    """Encode a CAN message using the dbc.

@@ -103,35 +141,40 @@ class dbc(object):
    """
    msg_id = self.lookup_msg_id(msg_id)

-    # TODO: Stop using bitstring, which is super slow.
    msg_def = self.msgs[msg_id]
    size = msg_def[0][1]

-    bsf = bitstring.Bits(hex="00"*size)
+    result = 0
    for s in msg_def[1]:
      ival = dd.get(s.name)
      if ival is not None:
+
+        b2 = s.size
+        if s.is_little_endian:
+          b1 = s.start_bit
+        else:
+          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
+        bo = 64 - (b1 + s.size)
+
        ival = (ival / s.factor) - s.offset
        ival = int(round(ival))

-        # should pack this
+        if s.is_signed and ival < 0:
+          ival = (1 << b2) + ival
+
+        shift = b1 if s.is_little_endian else bo
+        mask = ((1 << b2) - 1) << shift
+        dat = (ival & ((1 << b2) - 1)) << shift
+
        if s.is_little_endian:
-          ss = s.start_bit
-        else:
-          ss = self.bits_index[s.start_bit]
+          mask = self.reverse_bytes(mask)
+          dat = self.reverse_bytes(dat)

+        result &= ~mask
+        result |= dat

-        if s.is_signed:
-          tbs = bitstring.Bits(int=ival, length=s.size)
-        else:
-          tbs = bitstring.Bits(uint=ival, length=s.size)
-
-        lpad = bitstring.Bits(bin="0b"+"0"*ss)
-        rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
-        tbs = lpad+tbs+rpad
-
-        bsf |= tbs
-    return bsf.tobytes()
+    result = struct.pack('>Q', result)
+    return result[:size]

  def decode(self, x, arr=None, debug=False):
    """Decode a CAN message using the dbc.
@@ -167,54 +210,77 @@ class dbc(object):
    if debug:
      print name

-    blen = 8*len(x[2])
-
-    st = x[2].rjust(8, '\x00')
+    st = x[2].ljust(8, '\x00')
    le, be = None, None

    for s in msg[1]:
      if arr is not None and s[0] not in arr:
        continue

-      # big or little endian?
-      #   see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
-      if s[3] is False:
-        ss = self.bits_index[s[1]]
-        if be is None:
-          be = struct.unpack(">Q", st)[0]
-        x2_int = be
-        data_bit_pos = (blen - (ss + s[2]))
+      start_bit = s[1]
+      signal_size = s[2]
+      little_endian = s[3]
+      signed = s[4]
+      factor = s[5]
+      offset = s[6]
+
+      b2 = signal_size
+      if little_endian:
+        b1 = start_bit
      else:
+        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
+      bo = 64 - (b1 + signal_size)
+
+      if little_endian:
        if le is None:
          le = struct.unpack("<Q", st)[0]
-        x2_int = le
-        ss = s[1]
-        data_bit_pos = ss
+        shift_amount = b1
+        tmp = le
+      else:
+        if be is None:
+          be = struct.unpack(">Q", st)[0]
+        shift_amount = bo
+        tmp = be

-      if data_bit_pos < 0:
+      if shift_amount < 0:
        continue
-      ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)

-      if s[4] and (ival & (1<<(s[2]-1))): # signed
-        ival -= (1<<s[2])
+      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
+      if signed and (tmp >> (b2 - 1)):
+        tmp -= (1 << b2)

-      # control the offset
-      ival = (ival * s[5]) + s[6]
-      #if debug:
-      #  print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
+      tmp = tmp * factor + offset
+
+      # if debug:
+      #   print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])

      if arr is None:
-        out[s[0]] = ival
+        out[s[0]] = tmp
      else:
-        out[arr.index(s[0])] = ival
+        out[arr.index(s[0])] = tmp
    return name, out

  def get_signals(self, msg):
    msg = self.lookup_msg_id(msg)
    return [sgs.name for sgs in self.msgs[msg][1]]

+
 if __name__ == "__main__":
   from opendbc import DBC_PATH
+   import numpy as np

-   dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
-   print dbc_test.get_signals(0xe4)
+   dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
+   msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x25, 0, encoded))
+   assert decoded == msg
+
+   dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
+   decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
+   assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
+
+   msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
+   encoded = dbc_test.encode(*msg)
+   decoded = dbc_test.decode((0x2b0, 0, encoded))
+
+   assert decoded == msg
--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@@ -0,0 +1,42 @@
+import os
+import sys
+import fcntl
+import hashlib
+from cffi import FFI
+
+TMPDIR = "/tmp/ccache"
+
+def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
+  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
+  try:
+    os.mkdir(tmpdir)
+  except OSError:
+    pass
+
+  fd = os.open(tmpdir, 0)
+  fcntl.flock(fd, fcntl.LOCK_EX)
+  try:
+    sys.path.append(tmpdir)
+    try:
+      mod = __import__(cache)
+    except Exception:
+      print "cache miss", cache
+      compile_code(cache, c_code, c_header, tmpdir)
+      mod = __import__(cache)
+  finally:
+    os.close(fd)
+
+  return mod.ffi, mod.lib
+
+def compile_code(name, c_code, c_header, directory):
+  ffibuilder = FFI()
+  ffibuilder.set_source(name, c_code, source_extension='.cpp')
+  ffibuilder.cdef(c_header)
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['CFLAGS'] = ""
+  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
+
+def wrap_compiled(name, directory):
+  sys.path.append(directory)
+  mod = __import__(name)
+  return mod.ffi, mod.lib
--- a/common/filter_simple.py
+++ b/common/filter_simple.py
@@ -0,0 +1,10 @@
+class FirstOrderFilter():
+  # first order filter
+  def __init__(self, x0, ts, dt):
+    self.k = (dt / ts) / (1. + dt / ts)
+    self.x = x0
+
+  def update(self, x):
+    self.x = (1. - self.k) * self.x + self.k * x
+
+
--- a/common/params.py
+++ b/common/params.py
@@ -66,9 +66,6 @@ keys = {
 # written: visiond
 # read:    visiond, controlsd
  "CalibrationParams": TxType.PERSISTENT,
-# written: visiond
-# read:    visiond, ui
-  "CloudCalibration": TxType.PERSISTENT,
 # written: controlsd
 # read:    radard
  "CarParams": TxType.CLEAR_ON_CAR_START,
@@ -266,23 +263,50 @@ class DBWriter(DBAccessor):
      self._lock = None


+def read_db(params_path, key):
+  path = "%s/d/%s" % (params_path, key)
+  try:
+    with open(path, "rb") as f:
+      return f.read()
+  except IOError:
+    return None

-class JSDB(object):
-  def __init__(self, fn):
-    self._fn = fn
+def write_db(params_path, key, value):
+  prev_umask = os.umask(0)
+  lock = FileLock(params_path+"/.lock", True)
+  lock.acquire()

-  def begin(self, write=False):
-    if write:
-      return DBWriter(self._fn)
-    else:
-      return DBReader(self._fn)
+  try:
+    tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
+    with open(tmp_path, "wb") as f:
+      f.write(value)
+      f.flush()
+      os.fsync(f.fileno())
+
+    path = "%s/d/%s" % (params_path, key)
+    os.rename(tmp_path, path)
+    fsync_dir(os.path.dirname(path))
+  finally:
+    os.umask(prev_umask)
+    lock.release()

 class Params(object):
  def __init__(self, db='/data/params'):
-    self.env = JSDB(db)
+    self.db = db
+
+    # create the database if it doesn't exist...
+    if not os.path.exists(self.db+"/d"):
+      with self.transaction(write=True):
+        pass
+
+  def transaction(self, write=False):
+    if write:
+      return DBWriter(self.db)
+    else:
+      return DBReader(self.db)

  def _clear_keys_with_type(self, tx_type):
-    with self.env.begin(write=True) as txn:
+    with self.transaction(write=True) as txn:
      for key in keys:
        if keys[key] == tx_type:
          txn.delete(key)
@@ -294,7 +318,7 @@ class Params(object):
    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)

  def delete(self, key):
-    with self.env.begin(write=True) as txn:
+    with self.transaction(write=True) as txn:
      txn.delete(key)

  def get(self, key, block=False):
@@ -302,8 +326,7 @@ class Params(object):
      raise UnknownKeyName(key)

    while 1:
-      with self.env.begin() as txn:
-        ret = txn.get(key)
+      ret = read_db(self.db, key)
      if not block or ret is not None:
        break
      # is polling really the best we can do?
@@ -314,8 +337,7 @@ class Params(object):
    if key not in keys:
      raise UnknownKeyName(key)

-    with self.env.begin(write=True) as txn:
-      txn.put(key, dat)
+    write_db(self.db, key, dat)

 if __name__ == "__main__":
  params = Params()
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -0,0 +1,115 @@
+import numpy as np
+import common.transformations.orientation as orient
+
+FULL_FRAME_SIZE = (1164, 874)
+W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
+eon_focal_length = FOCAL = 910.0
+
+# aka 'K' aka camera_frame_from_view_frame
+eon_intrinsics = np.array([
+  [FOCAL,   0.,   W/2.],
+  [  0.,  FOCAL,  H/2.],
+  [  0.,    0.,     1.]])
+
+# aka 'K_inv' aka view_frame_from_camera_frame
+eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
+
+
+# device/mesh : x->forward, y-> right, z->down
+# view : x->right, y->down, z->forward
+device_frame_from_view_frame = np.array([
+  [ 0.,  0.,  1.],
+  [ 1.,  0.,  0.],
+  [ 0.,  1.,  0.]
+])
+view_frame_from_device_frame = device_frame_from_view_frame.T
+
+
+def get_calib_from_vp(vp):
+  vp_norm = normalize(vp)
+  yaw_calib = np.arctan(vp_norm[0])
+  pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  # TODO should be, this but written
+  # to be compatible with meshcalib and
+  # get_view_frame_from_road_fram
+  #pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  roll_calib = 0
+  return roll_calib, pitch_calib, yaw_calib
+
+# aka 'extrinsic_matrix'
+# road : x->forward, y -> left, z->up
+def get_view_frame_from_road_frame(roll, pitch, yaw, height):
+  # TODO
+  # calibration pitch is currently defined
+  # opposite to pitch in device frame
+  pitch = -pitch
+  device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
+  view_from_road = view_frame_from_device_frame.dot(device_from_road)
+  return np.hstack((view_from_road, [[0], [height], [0]]))
+
+
+def vp_from_ke(m):
+  """
+  Computes the vanishing point from the product of the intrinsic and extrinsic
+  matrices C = KE.
+
+  The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
+  """
+  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
+
+def roll_from_ke(m):
+  # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
+  return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
+                    -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
+
+def normalize(img_pts):
+  # normalizes image coordinates
+  # accepts single pt or array of pts
+  img_pts = np.array(img_pts)
+  input_shape = img_pts.shape
+  img_pts = np.atleast_2d(img_pts)
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts_normalized = eon_intrinsics_inv.dot(img_pts.T).T
+  img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
+  return img_pts_normalized[:,:2].reshape(input_shape)
+
+def denormalize(img_pts):
+  # denormalizes image coordinates
+  # accepts single pt or array of pts
+  img_pts = np.array(img_pts)
+  input_shape = img_pts.shape
+  img_pts = np.atleast_2d(img_pts)
+  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
+  img_pts_denormalized = eon_intrinsics.dot(img_pts.T).T
+  img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
+  img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
+  return img_pts_denormalized[:,:2].reshape(input_shape)
+
+def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
+  # device from ecef frame
+  # device frame is x -> forward, y-> right, z -> down
+  # accepts single pt or array of pts
+  input_shape = pt_ecef.shape
+  pt_ecef = np.atleast_2d(pt_ecef)
+  ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
+  device_from_ecef_rot = ecef_from_device_rot.T
+  pt_ecef_rel = pt_ecef - pos_ecef
+  pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
+  return pt_device.reshape(input_shape)
+
+def img_from_device(pt_device):
+  # img coordinates from pts in device frame
+  # first transforms to view frame, then to img coords
+  # accepts single pt or array of pts
+  input_shape = pt_device.shape
+  pt_device = np.atleast_2d(pt_device)
+  pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
+
+  # This function should never return negative depths
+  pt_view[pt_view[:,2] < 0] = np.nan
+
+  pt_img = pt_view/pt_view[:,2:3]
+  return pt_img.reshape(input_shape)[:,:2]
+
--- a/common/transformations/coordinates.py
+++ b/common/transformations/coordinates.py
@@ -12,12 +12,14 @@ esq = 6.69437999014 * 0.001
 e1sq = 6.73949674228 * 0.001


-def geodetic2ecef(geodetic):
+def geodetic2ecef(geodetic, radians=False):
  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]
+
+  ratio = 1.0 if radians else (np.pi / 180.0)
+  lat = ratio*geodetic[:,0]
+  lon = ratio*geodetic[:,1]
  alt = geodetic[:,2]

  xi = np.sqrt(1 - esq * np.sin(lat)**2)
@@ -28,41 +30,41 @@ def geodetic2ecef(geodetic):
  return ecef.reshape(input_shape)


-def ecef2geodetic(ecef):
+def ecef2geodetic(ecef, radians=False):
  """
  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)
+  # Save shape and export column
+  ecef = np.atleast_1d(ecef)
  input_shape = ecef.shape
  ecef = np.atleast_2d(ecef)
-  for p in ecef:
-    geodetic.append(ferrari(*p))
-  geodetic = np.array(geodetic)
+  x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
+
+  ratio = 1.0 if radians else (180.0 / np.pi)
+
+  # Conver from ECEF to geodetic using Ferrari's methods
+  # https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
+  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 = ratio*np.arctan((z + e1sq * Z_0) / r)
+  lon = ratio*np.arctan2(y, x)
+
+  # stack the new columns and return to the original shape
+  geodetic = np.column_stack((lat, lon, h))
  return geodetic.reshape(input_shape)

-
-
 class LocalCoord(object):
  """
   Allows conversions to local frames. In this case NED.
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -0,0 +1,114 @@
+import numpy as np
+
+from common.transformations.camera import eon_focal_length, \
+	vp_from_ke, \
+	get_view_frame_from_road_frame, \
+	FULL_FRAME_SIZE
+
+# segnet
+
+SEGNET_SIZE = (512, 384)
+
+segnet_frame_from_camera_frame = np.array([
+  [float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0],    0.,          ],
+  [     0.,          float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
+
+
+# model
+
+MODEL_INPUT_SIZE = (320, 160)
+MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
+MODEL_CX = MODEL_INPUT_SIZE[0]/2.
+MODEL_CY = 21.
+
+model_zoom = 1.25
+model_height = 1.22
+
+# canonical model transform
+model_intrinsics = np.array(
+  [[ eon_focal_length / model_zoom,    0. ,  MODEL_CX],
+   [   0. ,  eon_focal_length / model_zoom,  MODEL_CY],
+   [   0. ,                            0. ,   1.]])
+
+
+# BIG model
+
+BIGMODEL_INPUT_SIZE = (864, 288)
+BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
+
+bigmodel_zoom = 1.
+bigmodel_intrinsics = np.array(
+  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
+   [   0. ,  eon_focal_length / bigmodel_zoom,  0.2 * BIGMODEL_INPUT_SIZE[1]],
+   [   0. ,                            0. ,   1.]])
+
+
+bigmodel_border = np.array([
+    [0,0,1],
+    [BIGMODEL_INPUT_SIZE[0], 0, 1],
+    [BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
+    [0, BIGMODEL_INPUT_SIZE[1], 1],
+])
+
+
+model_frame_from_road_frame = np.dot(model_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
+
+# 'camera from model camera'
+def get_model_height_transform(camera_frame_from_road_frame, height):
+  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
+      [1, 0, 0],
+      [0, 1, 0],
+      [0, 0, 0],
+      [0, 0, 1],
+  ]))
+
+  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
+      [1, 0, 0],
+      [0, 1, 0],
+      [0, 0, height - model_height],
+      [0, 0, 1],
+  ]))
+
+  ground_from_camera_frame = np.linalg.inv(camera_frame_from_road_ground)
+
+  low_camera_from_high_camera = np.dot(camera_frame_from_road_high, ground_from_camera_frame)
+  high_camera_from_low_camera = np.linalg.inv(low_camera_from_high_camera)
+
+  return high_camera_from_low_camera
+
+
+# camera_frame_from_model_frame aka 'warp matrix'
+# was: calibration.h/CalibrationTransform
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
+  vp = vp_from_ke(camera_frame_from_road_frame)
+
+  model_camera_from_model_frame = np.array([
+    [model_zoom,         0., vp[0] - MODEL_CX * model_zoom],
+    [        0., model_zoom, vp[1] - MODEL_CY * model_zoom],
+    [        0.,         0.,                            1.],
+  ])
+
+  # This function is super slow, so skip it if height is very close to canonical
+  # TODO: speed it up!
+  if abs(height - model_height) > 0.001: #
+    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
+  else:
+    camera_from_model_camera = np.eye(3)
+
+  return np.dot(camera_from_model_camera, model_camera_from_model_frame)
+
+
+def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
+
+  ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
+  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
+
+  return camera_frame_from_bigmodel_frame
--- a/common/transformations/orientation.py
+++ b/common/transformations/orientation.py
@@ -0,0 +1,293 @@
+import numpy as np
+from numpy import dot, inner, array, linalg
+from common.transformations.coordinates import LocalCoord
+
+
+'''
+Vectorized functions that transform between
+rotation matrices, euler angles and quaternions.
+All support lists, array or array of arrays as inputs.
+Supports both x2y and y_from_x format (y_from_x preferred!).
+'''
+
+def euler2quat(eulers):
+  eulers = array(eulers)
+  if len(eulers.shape) > 1:
+    output_shape = (-1,4)
+  else:
+    output_shape = (4,)
+  eulers = np.atleast_2d(eulers)
+  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
+
+  q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
+       np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
+  q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
+       np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
+  q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
+       np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
+  q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
+       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
+
+  quats = array([q0, q1, q2, q3]).T
+  for i in xrange(len(quats)):
+    if quats[i,0] < 0:
+      quats[i] = -quats[i]
+  return quats.reshape(output_shape)
+
+
+def quat2euler(quats):
+  quats = array(quats)
+  if len(quats.shape) > 1:
+    output_shape = (-1,3)
+  else:
+    output_shape = (3,)
+  quats = np.atleast_2d(quats)
+  q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
+
+  gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
+  theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
+  psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
+
+  eulers = array([gamma, theta, psi]).T
+  return eulers.reshape(output_shape)
+
+
+def quat2rot(quats):
+  quats = array(quats)
+  input_shape = quats.shape
+  quats = np.atleast_2d(quats)
+  Rs = np.zeros((quats.shape[0], 3, 3))
+  q0 = quats[:, 0]
+  q1 = quats[:, 1]
+  q2 = quats[:, 2]
+  q3 = quats[:, 3]
+  Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
+  Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
+  Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
+  Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
+  Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
+  Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
+  Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
+  Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
+  Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
+
+  if len(input_shape) < 2:
+    return Rs[0]
+  else:
+    return Rs
+
+
+def rot2quat(rots):
+  input_shape = rots.shape
+  if len(input_shape) < 3:
+    rots = array([rots])
+  K3 = np.empty((len(rots), 4, 4))
+  K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
+  K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
+  K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
+  K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
+  K3[:, 1, 0] = K3[:, 0, 1]
+  K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
+  K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
+  K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
+  K3[:, 2, 0] = K3[:, 0, 2]
+  K3[:, 2, 1] = K3[:, 1, 2]
+  K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
+  K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
+  K3[:, 3, 0] = K3[:, 0, 3]
+  K3[:, 3, 1] = K3[:, 1, 3]
+  K3[:, 3, 2] = K3[:, 2, 3]
+  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
+  q = np.empty((len(rots), 4))
+  for i in xrange(len(rots)):
+    _, eigvecs = linalg.eigh(K3[i].T)
+    eigvecs = eigvecs[:,3:]
+    q[i, 0] = eigvecs[-1]
+    q[i, 1:] = -eigvecs[:-1].flatten()
+    if q[i, 0] < 0:
+      q[i] = -q[i]
+
+  if len(input_shape) < 3:
+    return q[0]
+  else:
+    return q
+
+
+def euler2rot(eulers):
+  return rotations_from_quats(euler2quat(eulers))
+
+
+def rot2euler(rots):
+  return quat2euler(quats_from_rotations(rots))
+
+
+quats_from_rotations = rot2quat
+quat_from_rot = rot2quat
+rotations_from_quats = quat2rot
+rot_from_quat= quat2rot
+rot_from_quat= quat2rot
+euler_from_rot = rot2euler
+euler_from_quat = quat2euler
+rot_from_euler = euler2rot
+quat_from_euler = euler2quat
+
+
+
+
+
+
+'''
+Random helpers below
+'''
+
+
+def quat_product(q, r):
+  t = np.zeros(4)
+  t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
+  t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
+  t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
+  t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
+  return t
+
+
+def rot_matrix(roll, pitch, yaw):
+  cr, sr = np.cos(roll), np.sin(roll)
+  cp, sp = np.cos(pitch), np.sin(pitch)
+  cy, sy = np.cos(yaw), np.sin(yaw)
+  rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
+  rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
+  ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
+  return ry.dot(rp.dot(rr))
+
+
+def rot(axis, angle):
+  # Rotates around an arbitrary axis
+  ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
+    axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
+  ], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
+  ret_2 = np.cos(angle) * np.eye(3)
+  ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
+                              [-axis[1], axis[0], 0]])
+  return ret_1 + ret_2 + ret_3
+
+
+def ecef_euler_from_ned(ned_ecef_init, ned_pose):
+  '''
+  Got it from here:
+  Using Rotations to Build Aerospace Coordinate Systems
+  -Don Koks
+  '''
+  converter = LocalCoord.from_ecef(ned_ecef_init)
+  x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
+  y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
+  z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
+
+  x1 = rot(z0, ned_pose[2]).dot(x0)
+  y1 = rot(z0, ned_pose[2]).dot(y0)
+  z1 = rot(z0, ned_pose[2]).dot(z0)
+
+  x2 = rot(y1, ned_pose[1]).dot(x1)
+  y2 = rot(y1, ned_pose[1]).dot(y1)
+  z2 = rot(y1, ned_pose[1]).dot(z1)
+
+  x3 = rot(x2, ned_pose[0]).dot(x2)
+  y3 = rot(x2, ned_pose[0]).dot(y2)
+  #z3 = rot(x2, ned_pose[0]).dot(z2)
+
+  x0 = array([1, 0, 0])
+  y0 = array([0, 1, 0])
+  z0 = array([0, 0, 1])
+
+  psi = np.arctan2(inner(x3, y0), inner(x3, x0))
+  theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
+  y2 = rot(z0, psi).dot(y0)
+  z2 = rot(y2, theta).dot(z0)
+  phi = np.arctan2(inner(y3, z2), inner(y3, y2))
+
+  ret = array([phi, theta, psi])
+  return ret
+
+
+def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
+  '''
+  Got the math from here:
+  Using Rotations to Build Aerospace Coordinate Systems
+  -Don Koks
+
+  Also accepts array of ecef_poses and array of ned_ecef_inits.
+  Where each row is a pose and an ecef_init.
+  '''
+  ned_ecef_init = array(ned_ecef_init)
+  ecef_poses = array(ecef_poses)
+  output_shape = ecef_poses.shape
+  ned_ecef_init = np.atleast_2d(ned_ecef_init)
+  ecef_poses = np.atleast_2d(ecef_poses)
+
+  ned_poses = np.zeros(ecef_poses.shape)
+  for i, ecef_pose in enumerate(ecef_poses):
+    converter = LocalCoord.from_ecef(ned_ecef_init[i])
+    x0 = array([1, 0, 0])
+    y0 = array([0, 1, 0])
+    z0 = array([0, 0, 1])
+
+    x1 = rot(z0, ecef_pose[2]).dot(x0)
+    y1 = rot(z0, ecef_pose[2]).dot(y0)
+    z1 = rot(z0, ecef_pose[2]).dot(z0)
+
+    x2 = rot(y1, ecef_pose[1]).dot(x1)
+    y2 = rot(y1, ecef_pose[1]).dot(y1)
+    z2 = rot(y1, ecef_pose[1]).dot(z1)
+
+    x3 = rot(x2, ecef_pose[0]).dot(x2)
+    y3 = rot(x2, ecef_pose[0]).dot(y2)
+    #z3 = rot(x2, ecef_pose[0]).dot(z2)
+
+    x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
+    y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
+    z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
+
+    psi = np.arctan2(inner(x3, y0), inner(x3, x0))
+    theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
+    y2 = rot(z0, psi).dot(y0)
+    z2 = rot(y2, theta).dot(z0)
+    phi = np.arctan2(inner(y3, z2), inner(y3, y2))
+    ned_poses[i] = array([phi, theta, psi])
+
+  return ned_poses.reshape(output_shape)
+
+
+def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
+  """
+  TODO: add roll rotation
+  Converts an array of points in ecef coordinates into
+  x-forward, y-left, z-up coordinates
+  Parameters
+  ----------
+  psi: yaw, radian
+  theta: pitch, radian
+  Returns
+  -------
+  [x, y, z] coordinates in car frame
+  """
+
+  # input is an array of points in ecef cocrdinates
+  # output is an array of points in car's coordinate (x-front, y-left, z-up)
+
+  # convert points to NED
+  points_ned = []
+  for p in points_ecef:
+    points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
+
+  points_ned = np.vstack(points_ned).T
+
+  # n, e, d -> x, y, z
+  # Calculate relative postions and rotate wrt to heading and pitch of car
+  invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
+
+  c, s = np.cos(psi), np.sin(psi)
+  yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
+
+  c, s = np.cos(theta), np.sin(theta)
+  pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
+
+  return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))
--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 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
--- a/opendbc/acura_ilx_2016_nidec.dbc
+++ b/opendbc/acura_ilx_2016_nidec.dbc
@@ -182,4 +182,4 @@ 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";
+VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted" 105 "wrong_config";
--- a/opendbc/acura_rdx_2018_can_generated.dbc
+++ b/opendbc/acura_rdx_2018_can_generated.dbc
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 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
--- a/opendbc/cadillac_ct6_powertrain.dbc
+++ b/opendbc/cadillac_ct6_powertrain.dbc
@@ -189,7 +189,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ 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
--- a/opendbc/chrysler_pacifica_2017_hybrid.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc
@@ -37,12 +37,15 @@ BU_: XXX


 BO_ 258 STEERING: 8 XXX
+ SG_ INCREMENTING_STEERING : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_STEERING : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_STEERING : 48|3@1+ (1,0) [0|15] "" XXX
+ SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" 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_ 514 SPEED_1: 4 XXX
+ SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
+ SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX

 BO_ 653 BRAKE_MODULE: 2 XXX
 SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
@@ -59,49 +62,365 @@ BO_ 820 DOORS: 8 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
+ SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR_INCREMENTING : 31|4@0+ (1,0) [0|15] "" 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_ 284 BRAKE_1: 8 XXX
+ SG_ SPEED_RELATED_1 : 37|14@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_RELATED_1_2 : 18|11@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_RELATED_1_1 : 3|12@0+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_BRAKE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_BRAKE : 63|8@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_ 320 BRAKE_2: 8 XXX
+ SG_ SPEED_RELATED_2 : 47|8@0+ (1,0) [0|63] "" XXX
+ SG_ INCREMENTING_140 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_140 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED_2 : 2|3@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX

 BO_ 736 TRIP: 8 XXX
- SG_ DISTANCE_COUNTER : 7|16@0+ (0,0) [0|65535] "Meters" XXX
+ SG_ DISTANCE_COUNTER : 7|16@0+ (1,0) [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
+ SG_ WHEEL_SPEED_FL : 3|12@0+ (0.0189408,0) [0|65535] "m/s" XXX
+ SG_ WHEEL_SPEED_RR : 51|12@0+ (0.0189408,0) [0|255] "m/s" XXX
+ SG_ WHEEL_SPEED_RL : 35|12@0+ (0.0189408,0) [0|3] "m/s" XXX
+ SG_ WHEEL_SPEED_FR : 19|12@0+ (0.0189408,0) [0|255] "m/s" XXX

 BO_ 792 STEERING_LEVERS: 8 XXX
+ SG_ HIGH_BEAM_PUSHED_IN : 2|1@0+ (1,0) [0|3] "" 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
+ SG_ HIGH_BEAM_FLASH : 3|1@0+ (1,0) [0|3] "" XXX

 BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
- SG_ ACCEL_PEDAL : 32|4@1+ (1,-7) [0|15] "" XXX
+ SG_ INCREMENTING_ACCEL_PEDAL : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_ACCEL_PEDAL : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 464 SEATBELT_STATUS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 544 LKAS_INDICATOR_1: 8 XXX
+ SG_ LKAS_IS_GREEN : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_1 : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ INCREMENTING_220 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_220 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_220_2 : 34|11@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_220_1 : 19|12@0+ (1,0) [0|4095] "" XXX
+ SG_ UNKNOWN_220_0 : 2|11@0+ (1,0) [0|63] "" XXX
+
+BO_ 658 LKAS_INDICATOR_2: 6 XXX
+ SG_ LKAS_INCREMENTING : 39|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKAS_CHECKSUM_2 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ LKAS_STEERING_TORQUE_MAYBE : 3|12@0- (1,0) [0|63] "" XXX
+
+BO_ 678 LKAS_INDICATOR_3: 8 XXX
+ SG_ WARNING_PLACE_HANDS : 22|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_WHITE_OR_YELLOW : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_IS_YELLOW_2 : 19|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 705 AUTO_PARK_BUTTON: 8 XXX
+ SG_ AUTO_PARK_TOGGLE_2 : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ INCREASING_UNKNOWN : 32|7@1+ (1,0) [0|15] "" XXX
+
+BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
+ SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX
+
+BO_ 671 AUTO_PARK_SIGNALS_2: 8 XXX
+ SG_ AUTO_PARK_PARALLEL : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_PERPENDICULAR_1 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ INCREMENTING : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_PARK_MAYBE_TURNING : 3|12@0+ (1,0) [0|1023] "" XXX
+ SG_ AUTO_PARK_TURNING_STATUS : 7|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX
+ SG_ INCREASING_UNKNOWN : 48|8@1+ (1,0) [0|7] "" XXX
+ SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX
+ SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_PARK_GEAR_2 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_GEAR_3 : 48|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 332 STEERING_2: 8 XXX
+ SG_ INCREMENTING_14C : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
+
+BO_ 720 BLIND_SPOT_WARNINGS: 6 XXX
+ SG_ BLIND_SPOT_RIGHT : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ BLIND_SPOT_LEFT : 2|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 331 BRAKE_3: 8 XXX
+ SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ INCREMENTING_14B : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_14B : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 608 PARKSENSE_SIGNAL: 8 XXX
+ SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ INCREMENTING_260 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_260 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ IN_REVERSE : 10|1@1+ (1,0) [0|255] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@1+ (1,0) [0|255] "" XXX
+ SG_ HUMAN_HAS_CONTROL : 17|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 729 LKAS_STATUS_1: 5 XXX
+ SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 274 NEW_MSG_112: 2 XXX
+
+BO_ 290 NEW_MSG_122: 6 XXX
+
+BO_ 376 NEW_MSG_178: 3 XXX
+
+BO_ 288 ACCEL_RELATED_120: 7 XXX
+ SG_ UNKNOWN_INCREMENTING_120 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_CHECKSUM_120 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 257 ACCEL_RELATED_101: 5 XXX
+ SG_ ENERGY_OR_RPM : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 388 NEW_MSG_184: 4 XXX
+
+BO_ 448 NEW_MSG_1c0: 6 XXX
+
+BO_ 456 NEW_MSG_1c8: 4 XXX
+
+BO_ 560 NEW_MSG_230: 4 XXX
+
+BO_ 564 NEW_MSG_234: 4 XXX
+
+BO_ 571 WHEEL_BUTTONS: 3 XXX
+ SG_ CHECKSUM_23B : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_FOLLOW_DEC : 1|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_SPEED_INC : 2|1@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_SPEED_DEC : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_FOLLOW_INC : 8|1@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 669 NEW_MSG_29d: 3 XXX
+ SG_ INCREMENTING_29D : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_29D : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 825 NEW_MSG_339: 2 XXX
+
+BO_ 856 NEW_MSG_358: 4 XXX
+
+BO_ 860 NEW_MSG_35c: 6 XXX
+
+BO_ 924 NEW_MSG_39c: 3 XXX
+
+BO_ 969 NEW_MSG_3c9: 4 XXX
+
+BO_ 974 NEW_MSG_3ce: 5 XXX
+
+BO_ 993 NEW_MSG_3e1: 7 XXX
+
+BO_ 838 NEW_MSG_346: 2 XXX
+
+BO_ 926 NEW_MSG_39e: 3 XXX
+
+BO_ 168 ACCEL_RELATED_a8: 8 XXX
+ SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ INCREMENTING_A8 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_A8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 270 ACCEL_RELATED_10e: 8 XXX
+ SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_ACCEL : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_ACCEL : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 291 ENERGY_RELATED_123: 8 XXX
+ SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_123 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_123 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX
+
+BO_ 294 ENERGY_RELATED_126: 8 XXX
+ SG_ CHECKSUM_126 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX
+ SG_ INCREMENTING_126 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX
+ SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX
+
+BO_ 300 NEW_MSG_12C: 8 XXX
+
+BO_ 308 ACCEL_GAS_134: 8 XXX
+ SG_ INCREMENTING_134 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACCEL_134 : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 532 ENERGY_RELATED_214: 8 XXX
+ SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
+ SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX
+
+BO_ 559 ACCEL_GAS_22F: 8 XXX
+ SG_ ACCEL_22F : 0|4@1+ (1,0) [0|255] "" XXX
+ SG_ INCREMENTING_22F : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_22F : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 655 CHARGING_MAYBE_28F: 8 XXX
+ SG_ CHARGING : 0|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 660 BRAKE_RELATED_294: 8 XXX
+ SG_ INCREMENTING_294 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM_294 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PERHAPS_294 : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 764 ACCEL_RELATED_2FC: 8 XXX
+ SG_ ACCEL_2FC : 8|6@1+ (1,0) [0|255] "" XXX
+
+BO_ 816 TRACTION_BUTTON: 8 XXX
+ SG_ TRACTION_OFF : 19|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 878 ACCEL_RELATED_36E: 8 XXX
+ SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_OR_RPM_1 : 0|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 324 SPEED_2: 8 XXX
+ SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX
+
+BO_ 501 DASHBOARD: 8 XXX
+ SG_ ACC_SPEED_CONFIG_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
+ SG_ ACC_SPEED_CONFIG_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
+ SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 639 NEW_MSG_27f: 8 XXX
+ SG_ INCREASING : 40|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 701 NEW_MSG_2bd: 8 XXX
+ SG_ unknown_1 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 832 UNKNOWN_340: 8 XXX
+ SG_ SPEED_DIGITAL : 56|8@1+ (1,0) [0|255] "mph" XXX
+
+BO_ 848 UNKNOWN_350: 8 XXX
+ SG_ INCREASING_LSB : 0|6@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_MSB : 12|5@0+ (1,0) [0|31] "" XXX
+
+BO_ 908 NEW_MSG_38c: 8 XXX
+ SG_ INCREASING_MSB : 44|5@0+ (1,0) [0|31] "" XXX
+ SG_ INCREASING_LSB : 56|6@1+ (1,0) [0|255] "" XXX
+
+BO_ 938 NEW_MSG_3aa: 8 XXX
+ SG_ INCREASING_UNKNOWN_1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_UNKNOWN_2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 940 NEW_MSG_3ac: 8 XXX
+ SG_ INCREASING_1 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 941 NEW_MSG_3ad: 8 XXX
+ SG_ INCREASING_1 : 32|5@1+ (1,0) [0|31] "" XXX
+ SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 500 ACC_2: 8 XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACC_STATUS_1 : 7|3@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_STATUS_2 : 21|3@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 625 ACC_1: 8 XXX
+ SG_ SPEED : 24|8@1+ (1,0) [0|255] "km/h" XXX
+ SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 268 ACC_10c: 8 XXX
+ SG_ BRAKE_PERHAPS : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 384 NEW_MSG_180: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|3] "" XXX
+
+BO_ 853 NEW_MSG_355: 8 XXX
+
+BO_ 939 NEW_MSG_3ab: 8 XXX
+
+BO_ 512 NEW_MSG_200: 8 XXX
+ SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING : 27|12@0+ (1,0) [0|127] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX




+CM_ SG_ 258 UNKNOWN_STEERING "never goes above 4. see if human-applied torque";
 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_ 746 GEAR_CHECKSUM "different than the LKAS checksum. unknown non-simple algorithm. just build a lookup table for it.";
+CM_ SG_ 284 SPEED_RELATED_1 "Another Speed Signal, Maybe RPMs?";
+CM_ SG_ 284 BRAKE_RELATED_1_1 "Correlates with braking";
+CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake";
+CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes";
 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";
+CM_ SG_ 544 AUTO_PARK_HAS_CONTROL_1 "set when autopark has control";
+CM_ SG_ 658 LKAS_INCREMENTING "each message increments, 0..f";
+CM_ SG_ 658 LKAS_CHECKSUM_2 "checksum calculated with https://gist.github.com/adhintz/94bf8d19b9075539f50172ab0fb24ba1";
+CM_ SG_ 658 LKAS_STEERING_TORQUE_MAYBE "1024 is straight. most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s";
+CM_ SG_ 678 WARNING_PLACE_HANDS "set when warning displays place hands on steering wheel";
+CM_ SG_ 678 LKAS_WHITE_OR_YELLOW "set when indicator is yellow or white. could indicate lkas not on track.";
+CM_ SG_ 678 LKAS_IS_YELLOW_2 "set when indicator is yellow. could indicate lkas is steering.";
+CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking";
+CM_ SG_ 705 INCREASING_UNKNOWN "sometimes decreasing";
+CM_ SG_ 671 AUTO_PARK_PARALLEL "parallel parking mode";
+CM_ SG_ 671 AUTO_PARK_PERPENDICULAR_1 "perpendicular parking mode";
+CM_ SG_ 671 AUTO_PARK_MAYBE_TURNING "something with autopark turning the steering wheel maybe.";
+CM_ SG_ 671 AUTO_PARK_TURNING_STATUS "0 when not steering. when steering starts, 4 for two packets, and then 5 for the rest";
+CM_ SG_ 784 INCREASING_UNKNOWN "perhaps distance traveled";
+CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f";
+CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f";
+CM_ SG_ 826 AUTO_PARK_GEAR_3 "Reverse=0, Forward=f";
+CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more noisy.";
+CM_ SG_ 720 BLIND_SPOT_RIGHT "yellow triangle alert on side view mirror when a car is in your blind spot";
+CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled";
+CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in.";
+CM_ SG_ 288 UNKNOWN_CHECKSUM_120 "not the LKAS checksum";
+CM_ SG_ 288 GAS_ENGINE_RPM_MAYBE "lags acceleration, perhaps gas engine";
+CM_ SG_ 257 ENERGY_OR_RPM "perhaps energy consumption or RPMs";
+CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
+CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
+CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
+CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
+CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
+CM_ SG_ 324 SPEED_2 "signal is approx half other speeds";
+CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC";
+CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC";
+CM_ SG_ 639 INCREASING "perhaps number of seconds divided by two for this drive";
+CM_ SG_ 848 INCREASING_LSB "lower part of time counter";
+CM_ SG_ 848 INCREASING_MSB "upper part of time counter";
+CM_ SG_ 908 INCREASING_MSB "time based";
+CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help when ACC coming to a stop and at a stop";
+CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
+CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
+CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
+CM_ SG_ 625 SPEED "zero on non-acc drives";
+CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
+CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
+CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
 VAL_ 746 PRNDL 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
--- a/opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
+++ b/opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
@@ -0,0 +1,230 @@
+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_ 544 a_1: 8 XXX
+ SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
+ SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
+ SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
+ SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 576 b_1: 8 XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
+ SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 608 a_2: 8 XXX
+ SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
+ SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
+ SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
+ SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 640 b_2: 8 XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
+ SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 644 a_3: 8 XXX
+ SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
+ SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
+ SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
+ SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 648 b_3: 8 XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
+ SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 652 a_4: 8 XXX
+ SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
+ SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
+ SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
+ SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 656 b_4: 8 XXX
+ SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
+ SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 512 unknown_200: 8 XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ increasing : 31|16@0+ (1,0) [0|255] "" XXX
+ SG_ zeros_0 : 3|12@0+ (1,0) [0|63] "" XXX
+ SG_ zeros_1 : 47|12@0+ (1,0) [0|63] "" XXX
+ SG_ status0 : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ unknown_0 : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 514 unknown_202: 8 XXX
+ SG_ COUNTER : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ sig3 : 31|8@0+ (1,0) [0|65535] "" XXX
+ SG_ increasing : 39|12@0+ (1,0) [0|15] "" XXX
+
+BO_ 706 c_1: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+
+BO_ 708 c_2: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 710 c_3: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 712 c_4: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 714 c_5: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 716 c_6: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 718 c_7: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 720 c_8: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 722 c_9: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 724 c_10: 8 XXX
+ SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
+ SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 674 d_1: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 676 d_2: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 678 d_3: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 680 d_4: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 682 d_5: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 684 d_6: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 686 d_7: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 688 d_8: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 690 d_9: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 692 d_10: 8 XXX
+ SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
+
+BO_ 672 NEW_MSG_5: 8 XXX
+ SG_ NEW_SIGNAL_1 : 9|10@0+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_2 : 45|10@0+ (1,0) [0|1023] "" XXX
+
+
+
+
+CM_ SG_ 544 track_id "for message a_1 track_id is always 1, similar for other messages and track_id";
+CM_ SG_ 544 REL_ACCEL "perhaps REL_ACCEL because it responds faster and before REL_SPEED";
+CM_ SG_ 544 sig2 "perhaps distance to object. LONG_DIST or REL_ACCEL or REL_SPEED";
+CM_ SG_ 576 zeros "not always zero, sometimes has value when another car changes lanes";
+CM_ SG_ 706 LAT_DIST "positive is to the right, negative is to the left";
--- a/opendbc/generator/honda/_bosch_2018.dbc
+++ b/opendbc/generator/honda/_bosch_2018.dbc
@@ -64,10 +64,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
 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_ 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

--- a/opendbc/generator/honda/_honda_2017.dbc
+++ b/opendbc/generator/honda/_honda_2017.dbc
@@ -37,9 +37,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 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
--- a/opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc
+++ b/opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc
@@ -0,0 +1,52 @@
+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_ 432 STANDSTILL: 7 VSA
+ 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_ 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_ 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
@@ -126,7 +126,7 @@ BO_ 1302 ODOMETER: 8 XXX

 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_ 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" ;
--- a/opendbc/generator/honda/honda_fit_ex_2018_can.dbc
+++ b/opendbc/generator/honda/honda_fit_ex_2018_can.dbc
@@ -0,0 +1,97 @@
+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
+
+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_ 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_ 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_ 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_ 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_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 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
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+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/_comma.dbc
+++ b/opendbc/generator/toyota/_comma.dbc
@@ -9,3 +9,17 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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/toyota/toyota_chr_hybrid_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_chr_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- (0.73,0) [-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
+
+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";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+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_highlander_hybrid_2018_pt.dbc
+++ b/opendbc/generator/toyota/toyota_highlander_hybrid_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_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+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_ 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_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
@@ -180,7 +180,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 BO_ 1034 ASCM_40A: 7 K124_ASCM

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ 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
--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -0,0 +1,319 @@
+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+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_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_ 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_lx15t_2018_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_ 432 STANDSTILL: 7 VSA
+ 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_ 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_ 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_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
 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_ 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

--- a/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+++ b/opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
 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_ 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

--- a/opendbc/honda_civic_touring_2016_can_generated.dbc
+++ b/opendbc/honda_civic_touring_2016_can_generated.dbc
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 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
@@ -355,7 +355,7 @@ BO_ 1302 ODOMETER: 8 XXX

 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_ 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" ;
--- a/opendbc/honda_crv_ex_2017_can_generated.dbc
+++ b/opendbc/honda_crv_ex_2017_can_generated.dbc
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
 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_ 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_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

--- a/opendbc/honda_crv_touring_2016_can_generated.dbc
+++ b/opendbc/honda_crv_touring_2016_can_generated.dbc
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 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
--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_2018_can_generated.dbc
@@ -0,0 +1,326 @@
+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 ""
+
+
+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_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "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_ BRAKE_PUMP_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 : 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_fit_ex_2018_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 : 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_ 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_ 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_ 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_ 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_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 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
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_odyssey_exl_2018_generated.dbc
+++ b/opendbc/honda_odyssey_exl_2018_generated.dbc
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 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
--- a/opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
+++ b/opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
@@ -0,0 +1,295 @@
+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 ADAS PCM EPS VSA SCM BDY XXX EPB EON INTERCEPTOR
+
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ZEROS : 23|16@0+ (1,0) [0|15000] "" 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] "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_ BRAKE_PUMP_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 : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 512 GAS_COMMAND: 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
+
+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_ BOH2 : 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_ 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_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-2985|2985] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 XXX
+ SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 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_ 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_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_ON "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...";
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+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" ;
+VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 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
--- a/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+++ b/opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
 SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
 SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
 SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
- 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
--- a/opendbc/hyundai_2015_ccan.dbc
+++ b/opendbc/hyundai_2015_ccan.dbc
@@ -149,7 +149,7 @@ BO_ 1456 CLU12: 4 CLU
 SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km"  _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS

 BO_ 688 SAS11: 5 MDPS
- SG_ SAS_Angle : 0|16@1+ (0.1,0.0) [-3276.8|3276.7] "Deg"  _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
+ SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg"  _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
 SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] ""  AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU
 SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
 SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
--- a/opendbc/hyundai_santa_fe_2019_ccan.dbc
+++ b/opendbc/hyundai_santa_fe_2019_ccan.dbc
--- a/opendbc/kia_sorento_2018.dbc
+++ b/opendbc/kia_sorento_2018.dbc
--- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/mercedes_benz_e350_2010.dbc
+++ b/opendbc/mercedes_benz_e350_2010.dbc
@@ -36,27 +36,141 @@ BS_:
 BU_: XXX


-BO_ 3 NEW_MSG_1: 8 XXX
- SG_ STEERING_ANGLE : 7|32@0- (1,0) [0|4294967295] "" XXX
- SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
+BO_ 3 STEER_SENSOR: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_RATE : 19|12@0- (0.5,0) [0|255] "" XXX
+ SG_ STEER_DIRECTION : 4|1@0+ (1,2) [0|1] "" XXX
+ SG_ STEER_ANGLE : 3|12@0- (-0.5,0) [-500|500] "degrees" XXX

-BO_ 5 NEW_MSG_2: 8 XXX
- SG_ BRAKE_POSITION : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ BRAKE_PRESSED : 0|8@1+ (1,0) [0|17] "" XXX
+BO_ 5 BRAKE_MODULE: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_HOLD : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_POSITION : 17|10@0+ (1,0) [0|65535] "" XXX
+ SG_ DRIVER_BRAKE : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ COMPUTER_BRAKE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSED : 0|1@1+ (1,0) [0|1] "" XXX

-BO_ 69 NEW_MSG_3: 8 XXX
- SG_ TURN_SIGNAL_LEVER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ CRUISE_CONTROL_LEVER : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ STEERING_WHEEL_BUTTONS : 32|8@1+ (1,0) [0|255] "4 directional, 2 volume control, & 2 phone buttons" XXX
- SG_ MORE_STEERING_WHEELS_BUTTONS : 40|8@1+ (1,0) [0|255] "" XXX
+BO_ 69 DRIVER_CONTROLS: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ STEERING_WHEEL_BUTTONS : 32|16@1+ (1,0) [0|255] "4 directional, 2 volume control & 2 phone buttons" XXX
+ SG_ LEFT_BLINKER : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAM_TOGGLE : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAM_MOMENTARY : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_CANCEL : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_RESUME : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_ACCEL_HIGH : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_DECEL_HIGH : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_ACCEL_LOW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_DECEL_LOW : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_XFF : 15|8@0+ (1,0) [0|255] "" XXX

-BO_ 1 NEW_MSG_4: 8 XXX
- SG_ DOOR_LOCK_STATUS : 31|16@0+ (1,0) [0|65535] "" XXX
+BO_ 513 WHEEL_ENCODERS: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ WHEEL_ENCODER_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_ENCODER_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_ENCODER_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_ENCODER_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 261 GAS_PEDAL: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ENGINE_RPM : 4|5@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_PEDAL : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ COMBINED_GAS : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 DOOR_SENSORS: 8 XXX
+ SG_ BRAKE_PRESSED : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_RR : 7|1@0+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_FL : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FL : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_FR : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_RL : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_CLOSED_RR : 6|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 885 SEATBELT_SENSORS: 8 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ SEATBELT_PASSENGER_LATCHED : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 257 CRUISE_CONTROL: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_DISABLED : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X002 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_1 : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACCELERATING : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LONGITUDINAL_ACCEL_REQUEST : 15|8@0- (1,0) [0|127] "" XXX
+
+BO_ 260 CRUISE_CONTROL2: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_XFF : 31|8@0+ (1,0) [0|65535] "" XXX
+ SG_ SET_ME_X02 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_XFF2 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 14 STEER_TORQUE: 8 XXX
+ SG_ STEER_TORQUE : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 888 CRUISE_CONTROL3: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_DISABLED : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ENABLED : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X004 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X002 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_SET_SPEED : 15|8@0+ (1,0) [0|63] "mph" XXX
+ SG_ CRUISE_SPEED_CHANGE : 55|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 307 POWER_SEATS: 8 XXX
+ SG_ DRIVER_FORWARD : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVER_BACK : 1|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 109 GEAR_LEVER: 8 XXX
+ SG_ PARK_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEUTRAL_UP : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEUTRAL_DOWN : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ REVERSE : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 115 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 0|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 581 IGNITION: 8 XXX
+
+BO_ 515 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_MOVING_FR : 22|1@1+ (1,0) [0|15] "" XXX
+ SG_ WHEEL_MOVING_RL : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_MOVING_FL : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_MOVING_RR : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ WHEEL_SPEED_FL : 2|11@0+ (0.0375,0) [0|255] "mph" XXX
+ SG_ WHEEL_SPEED_FR : 18|11@0+ (0.0375,0) [0|255] "mph" XXX
+ SG_ WHEEL_SPEED_RL : 34|11@0+ (0.0375,0) [0|255] "mph" XXX
+ SG_ WHEEL_SPEED_RR : 50|11@0+ (0.0375,0) [0|255] "mph" XXX




-CM_ SG_ 5 BRAKE_PRESSED "appears to be boolean (brake pressed)";
-CM_ SG_ 69 MORE_STEERING_WHEELS_BUTTONS "back, ok, voice assistance, and mute buttons";
+CM_ SG_ 3 STEER_DIRECTION "0 = left, 1 = right";
+CM_ SG_ 5 BRAKE_POSITION "computer and driver";
+CM_ SG_ 5 BRAKE_PRESSED "computer and driver";
+CM_ SG_ 261 GAS_PEDAL "user gas input";
+CM_ SG_ 261 COMBINED_GAS "computer and driver gas";
+CM_ SG_ 257 CRUISE_ACCELERATING "";
--- a/opendbc/tesla_can.dbc
+++ b/opendbc/tesla_can.dbc
@@ -328,7 +328,8 @@ VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
 VAL_ 14 StW_AnglHP 16383 "SNA" ;
 VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ;
 VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ;
-VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
+VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
+VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
 VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
 VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
 VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
--- a/opendbc/toyota_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_chr_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_2018_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
@@ -0,0 +1,261 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _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_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- (0.73,0) [-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
+
+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";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+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_corolla_2017_pt_generated.dbc
+++ b/opendbc/toyota_corolla_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_highlander_2017_pt_generated.dbc
+++ b/opendbc/toyota_highlander_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -0,0 +1,258 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _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_highlander_hybrid_2018_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+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_ 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_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_rav4_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
 VERSION ""
--- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS

 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";

+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
+  SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
+  SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
 VERSION ""
--- a/panda/.circleci/config.yml
+++ b/panda/.circleci/config.yml
@@ -25,9 +25,17 @@ jobs:
          command: |
            docker run panda_build /bin/bash -c "cd /panda; python setup.py install"
      - run:
-          name: Build STM image
+          name: Build Panda STM image
          command: |
            docker run panda_build /bin/bash -c "cd /panda/board; make bin"
+      - run:
+          name: Build Pedal STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
+      - run:
+          name: Build NEO STM image
+          command: |
+            docker run panda_build /bin/bash -c "cd /panda/board; make clean; make -f Makefile.legacy obj/comma.bin"
      - run:
          name: Build ESP image
          command: |
--- a/panda/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.1.2
+v1.1.5
--- a/panda/board/drivers/can.h
+++ b/panda/board/drivers/can.h
@@ -158,7 +158,7 @@ void can_set_speed(uint8_t can_number) {
    // 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)) |
@@ -461,8 +461,6 @@ void CAN3_SCE_IRQHandler() { can_sce(CAN3); }

 #endif

-#include "canbitbang.h"
-
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
  if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
    if (bus_number < BUS_MAX) {
@@ -470,8 +468,10 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
      // bus number isn't passed through
      to_push->RDTR &= 0xF;
      if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
+        #ifdef PANDA
        // TODO: why uint8 bro? only int8?
        bitbang_gmlan(to_push);
+        #endif
      } else {
        can_push(can_queues[bus_number], to_push);
        process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
--- a/panda/board/drivers/canbitbang.h
+++ b/panda/board/drivers/canbitbang.h
@@ -1,203 +0,0 @@
-#define MAX_BITS_CAN_PACKET (200)
-
-// returns out_len
-int do_bitstuff(char *out, char *in, int in_len) {
-  int last_bit = -1;
-  int bit_cnt = 0;
-  int j = 0;
-  for (int i = 0; i < in_len; i++) {
-    char bit = in[i];
-    out[j++] = bit;
-
-    // do the stuffing
-    if (bit == last_bit) {
-      bit_cnt++;
-      if (bit_cnt == 5) {
-        // 5 in a row the same, do stuff
-        last_bit = !bit;
-        out[j++] = last_bit;
-        bit_cnt = 1;
-      }
-    } else {
-      // this is a new bit
-      last_bit = bit;
-      bit_cnt = 1;
-    }
-  }
-  return j;
-}
-
-int append_crc(char *in, int in_len) {
-  int crc = 0;
-  for (int i = 0; i < in_len; i++) {
-    crc <<= 1;
-    if (in[i] ^ ((crc>>15)&1)) {
-      crc = crc ^ 0x4599;
-    }
-    crc &= 0x7fff;
-  }
-  for (int i = 14; i >= 0; i--) {
-    in[in_len++] = (crc>>i)&1;
-  }
-  return in_len;
-}
-
-int append_bits(char *in, int in_len, char *app, int app_len) {
-  for (int i = 0; i < app_len; i++) {
-    in[in_len++] = app[i];
-  }
-  return in_len;
-}
-
-int append_int(char *in, int in_len, int val, int val_len) {
-  for (int i = val_len-1; i >= 0; i--) {
-    in[in_len++] = (val&(1<<i)) != 0;
-  }
-  return in_len;
-}
-
-int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
-  char pkt[MAX_BITS_CAN_PACKET];
-  char footer[] = {
-    1,  // CRC delimiter
-    1,  // ACK
-    1,  // ACK delimiter
-    1,1,1,1,1,1,1, // EOF
-    1,1,1, // IFS
-  };
-
-  int len = 0;
-
-  // test packet
-  int dlc_len = to_bang->RDTR & 0xF;
-  len = append_int(pkt, len, 0, 1);    // Start-of-frame
-  
-  if (to_bang->RIR & 4) {
-    // extended identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
-    len = append_int(pkt, len, 3, 2);    // SRR+IDE
-    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
-    len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
-  } else {
-    // standard identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
-    len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
-  }
-
-  len = append_int(pkt, len, dlc_len, 4);    // Data length code
-
-  // append data
-  for (int i = 0; i < dlc_len; i++) {
-    unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
-    len = append_int(pkt, len, dat, 8);
-  }
-
-  // append crc
-  len = append_crc(pkt, len);
-
-  // do bitstuffing
-  len = do_bitstuff(out, pkt, len);
-
-  // append footer
-  len = append_bits(out, len, footer, sizeof(footer));
-  return len;
-}
-
-// hardware stuff below this line
-
-#ifdef PANDA
-
-void set_bitbanged_gmlan(int val) {
-  if (val) {
-    GPIOB->ODR |= (1 << 13);
-  } else {
-    GPIOB->ODR &= ~(1 << 13);
-  }
-}
-
-char pkt_stuffed[MAX_BITS_CAN_PACKET];
-int gmlan_sending = -1;
-int gmlan_sendmax = -1;
-
-int gmlan_silent_count = 0;
-int gmlan_fail_count = 0;
-#define REQUIRED_SILENT_TIME 10
-#define MAX_FAIL_COUNT 10
-
-void TIM4_IRQHandler(void) {
-  if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
-    int read = get_gpio_input(GPIOB, 12);
-    if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
-      if (read == 0) {
-        gmlan_silent_count = 0;
-      } else {
-        gmlan_silent_count++;
-      }
-    } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
-      int retry = 0;
-      // in send loop
-      if (gmlan_sending > 0 &&  // not first bit
-         (read == 0 && pkt_stuffed[gmlan_sending-1] == 1) &&  // bus wrongly dominant
-         gmlan_sending != (gmlan_sendmax-11)) {    //not ack bit
-        puts("GMLAN ERR: bus driven at ");
-        puth(gmlan_sending);
-        puts("\n");
-        retry = 1;
-      } else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) {    // recessive during ACK
-        puts("GMLAN ERR: didn't recv ACK\n");
-        retry = 1;
-      }
-      if (retry) {
-        // reset sender (retry after 7 silent)
-        set_bitbanged_gmlan(1); // recessive
-        gmlan_silent_count = 0;
-        gmlan_sending = 0;
-        gmlan_fail_count++;
-        if (gmlan_fail_count == MAX_FAIL_COUNT) {
-          puts("GMLAN ERR: giving up send\n");
-        }
-      } else {
-        set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
-        gmlan_sending++;
-      }
-    }
-    if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
-      set_bitbanged_gmlan(1); // recessive
-      set_gpio_mode(GPIOB, 13, MODE_INPUT);
-      TIM4->DIER = 0;  // no update interrupt
-      TIM4->CR1 = 0;   // disable timer
-      gmlan_sendmax = -1;   // exit
-    }
-  }
-  TIM4->SR = 0;
-}
-
-void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
-  // TODO: make failure less silent
-  if (gmlan_sendmax != -1) return;
-
-  int len = get_bit_message(pkt_stuffed, to_bang);
-  gmlan_fail_count = 0;
-  gmlan_silent_count = 0;
-  gmlan_sending = 0;
-  gmlan_sendmax = len;
-
-  // setup for bitbang loop
-  set_bitbanged_gmlan(1); // recessive
-  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-
-  // setup
-  TIM4->PSC = 48-1;          // tick on 1 us
-  TIM4->CR1 = TIM_CR1_CEN;   // enable
-  TIM4->ARR = 30-1;          // 33.3 kbps
-
-  // in case it's disabled
-  NVIC_EnableIRQ(TIM4_IRQn);
-
-  // run the interrupt
-  TIM4->DIER = TIM_DIER_UIE; // update interrupt
-  TIM4->SR = 0;
-}
-
-#endif
-
--- a/panda/board/drivers/gmlan_alt.h
+++ b/panda/board/drivers/gmlan_alt.h
@@ -0,0 +1,276 @@
+#define GMLAN_TICKS_PER_SECOND 33300 //1sec @ 33.3kbps
+#define GMLAN_TICKS_PER_TIMEOUT_TICKLE 500 //15ms @ 33.3kbps
+#define GMLAN_HIGH 0 //0 is high on bus (dominant)
+#define GMLAN_LOW 1 //1 is low on bus
+
+#define DISABLED -1
+#define BITBANG 0
+#define GPIO_SWITCH 1
+
+#define MAX_BITS_CAN_PACKET (200)
+
+int gmlan_alt_mode = DISABLED; 
+
+// returns out_len
+int do_bitstuff(char *out, char *in, int in_len) {
+  int last_bit = -1;
+  int bit_cnt = 0;
+  int j = 0;
+  for (int i = 0; i < in_len; i++) {
+    char bit = in[i];
+    out[j++] = bit;
+
+    // do the stuffing
+    if (bit == last_bit) {
+      bit_cnt++;
+      if (bit_cnt == 5) {
+        // 5 in a row the same, do stuff
+        last_bit = !bit;
+        out[j++] = last_bit;
+        bit_cnt = 1;
+      }
+    } else {
+      // this is a new bit
+      last_bit = bit;
+      bit_cnt = 1;
+    }
+  }
+  return j;
+}
+
+int append_crc(char *in, int in_len) {
+  int crc = 0;
+  for (int i = 0; i < in_len; i++) {
+    crc <<= 1;
+    if (in[i] ^ ((crc>>15)&1)) {
+      crc = crc ^ 0x4599;
+    }
+    crc &= 0x7fff;
+  }
+  for (int i = 14; i >= 0; i--) {
+    in[in_len++] = (crc>>i)&1;
+  }
+  return in_len;
+}
+
+int append_bits(char *in, int in_len, char *app, int app_len) {
+  for (int i = 0; i < app_len; i++) {
+    in[in_len++] = app[i];
+  }
+  return in_len;
+}
+
+int append_int(char *in, int in_len, int val, int val_len) {
+  for (int i = val_len-1; i >= 0; i--) {
+    in[in_len++] = (val&(1<<i)) != 0;
+  }
+  return in_len;
+}
+
+int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
+  char pkt[MAX_BITS_CAN_PACKET];
+  char footer[] = {
+    1,  // CRC delimiter
+    1,  // ACK
+    1,  // ACK delimiter
+    1,1,1,1,1,1,1, // EOF
+    1,1,1, // IFS
+  };
+
+  int len = 0;
+
+  // test packet
+  int dlc_len = to_bang->RDTR & 0xF;
+  len = append_int(pkt, len, 0, 1);    // Start-of-frame
+  
+  if (to_bang->RIR & 4) {
+    // extended identifier
+    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, 3, 2);    // SRR+IDE
+    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
+    len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
+  } else {
+    // standard identifier
+    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
+  }
+
+  len = append_int(pkt, len, dlc_len, 4);    // Data length code
+
+  // append data
+  for (int i = 0; i < dlc_len; i++) {
+    unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
+    len = append_int(pkt, len, dat, 8);
+  }
+
+  // append crc
+  len = append_crc(pkt, len);
+
+  // do bitstuffing
+  len = do_bitstuff(out, pkt, len);
+
+  // append footer
+  len = append_bits(out, len, footer, sizeof(footer));
+  return len;
+}
+
+#ifdef PANDA
+
+void setup_timer4() {
+  // setup
+  TIM4->PSC = 48-1;          // tick on 1 us
+  TIM4->CR1 = TIM_CR1_CEN;   // enable
+  TIM4->ARR = 30-1;          // 33.3 kbps
+
+  // in case it's disabled
+  NVIC_EnableIRQ(TIM4_IRQn);
+
+  // run the interrupt
+  TIM4->DIER = TIM_DIER_UIE; // update interrupt
+  TIM4->SR = 0;
+}
+
+int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
+int can_timeout_counter = GMLAN_TICKS_PER_SECOND; //1 second
+
+int inverted_bit_to_send = GMLAN_HIGH; 
+int gmlan_switch_below_timeout = -1;
+int gmlan_switch_timeout_enable = 0;
+
+void gmlan_switch_init(int timeout_enable) {
+  gmlan_switch_timeout_enable = timeout_enable;
+  gmlan_alt_mode = GPIO_SWITCH;
+  gmlan_switch_below_timeout = 1;
+  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
+  
+  setup_timer4();
+  
+  inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
+}
+
+void set_gmlan_digital_output(int to_set) {
+  inverted_bit_to_send = to_set;
+  /*
+  puts("Writing ");
+  puth(inverted_bit_to_send);
+  puts("\n");
+  */
+}
+
+void reset_gmlan_switch_timeout(void) {
+  can_timeout_counter = GMLAN_TICKS_PER_SECOND;
+  gmlan_switch_below_timeout = 1;
+  gmlan_alt_mode = GPIO_SWITCH;
+}
+
+void set_bitbanged_gmlan(int val) {
+  if (val) {
+    GPIOB->ODR |= (1 << 13);
+  } else {
+    GPIOB->ODR &= ~(1 << 13);
+  }
+}
+
+char pkt_stuffed[MAX_BITS_CAN_PACKET];
+int gmlan_sending = -1;
+int gmlan_sendmax = -1;
+
+int gmlan_silent_count = 0;
+int gmlan_fail_count = 0;
+#define REQUIRED_SILENT_TIME 10
+#define MAX_FAIL_COUNT 10
+
+void TIM4_IRQHandler(void) {
+  if (gmlan_alt_mode == BITBANG) {
+    if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
+      int read = get_gpio_input(GPIOB, 12);
+      if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
+        if (read == 0) {
+          gmlan_silent_count = 0;
+        } else {
+          gmlan_silent_count++;
+        }
+      } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
+        int retry = 0;
+        // in send loop
+        if (gmlan_sending > 0 &&  // not first bit
+           (read == 0 && pkt_stuffed[gmlan_sending-1] == 1) &&  // bus wrongly dominant
+           gmlan_sending != (gmlan_sendmax-11)) {    //not ack bit
+          puts("GMLAN ERR: bus driven at ");
+          puth(gmlan_sending);
+          puts("\n");
+          retry = 1;
+        } else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) {    // recessive during ACK
+          puts("GMLAN ERR: didn't recv ACK\n");
+          retry = 1;
+        }
+        if (retry) {
+          // reset sender (retry after 7 silent)
+          set_bitbanged_gmlan(1); // recessive
+          gmlan_silent_count = 0;
+          gmlan_sending = 0;
+          gmlan_fail_count++;
+          if (gmlan_fail_count == MAX_FAIL_COUNT) {
+            puts("GMLAN ERR: giving up send\n");
+          }
+        } else {
+          set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
+          gmlan_sending++;
+        }
+      }
+      if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
+        set_bitbanged_gmlan(1); // recessive
+        set_gpio_mode(GPIOB, 13, MODE_INPUT);
+        TIM4->DIER = 0;  // no update interrupt
+        TIM4->CR1 = 0;   // disable timer
+        gmlan_sendmax = -1;   // exit
+      }
+    }
+    TIM4->SR = 0;
+  } //bit bang mode
+
+  else if (gmlan_alt_mode == GPIO_SWITCH) {
+    if (TIM4->SR & TIM_SR_UIF && gmlan_switch_below_timeout != -1) {
+      if (can_timeout_counter == 0 && gmlan_switch_timeout_enable) {
+        //it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
+        set_gpio_output(GPIOB, 13, GMLAN_LOW);
+        gmlan_switch_below_timeout = -1;
+        gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
+        gmlan_alt_mode = DISABLED;
+      }
+      else {
+        can_timeout_counter--;
+        if (gmlan_timeout_counter == 0) {
+          //Send a 1 (bus low) every 15ms to reset the GMLAN transceivers timeout
+          gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
+          set_gpio_output(GPIOB, 13, GMLAN_LOW);
+        }
+        else {
+          set_gpio_output(GPIOB, 13, inverted_bit_to_send);
+          gmlan_timeout_counter--;
+        }
+      }
+    }
+    TIM4->SR = 0;
+  } //gmlan switch mode
+}
+
+void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+  gmlan_alt_mode = BITBANG;
+  // TODO: make failure less silent
+  if (gmlan_sendmax != -1) return;
+
+  int len = get_bit_message(pkt_stuffed, to_bang);
+  gmlan_fail_count = 0;
+  gmlan_silent_count = 0;
+  gmlan_sending = 0;
+  gmlan_sendmax = len;
+
+  // setup for bitbang loop
+  set_bitbanged_gmlan(1); // recessive
+  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
+
+  setup_timer4();
+}
+
+#endif
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -15,6 +15,7 @@
 #include "drivers/uart.h"
 #include "drivers/adc.h"
 #include "drivers/usb.h"
+#include "drivers/gmlan_alt.h"
 #include "drivers/can.h"
 #include "drivers/spi.h"
 #include "drivers/timer.h"
--- a/panda/board/pedal/obj/.gitkeep
+++ b/panda/board/pedal/obj/.gitkeep
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -5,6 +5,14 @@ struct sample_t {
  int max;
 } sample_t_default = {{0}, 0, 0};

+// no float support in STM32F2 micros (cortex-m3)
+#ifdef PANDA
+struct lookup_t {
+  float x[3];
+  float y[3];
+};
+#endif
+
 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);
@@ -16,9 +24,12 @@ int max_limit_check(int val, const int MAX, const int MIN);
 int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
  const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
 int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
-  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN, 
+  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
  const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
+#ifdef PANDA
+float interpolate(struct lookup_t xy, float x);
+#endif

 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
@@ -49,6 +60,7 @@ int controls_allowed = 0;
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
+#include "safety/safety_hyundai.h"
 #include "safety/safety_elm327.h"

 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -87,6 +99,7 @@ typedef struct {
 #define SAFETY_HONDA_BOSCH 4
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
+#define SAFETY_HYUNDAI 7
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -100,6 +113,7 @@ const safety_hook_config safety_hook_registry[] = {
  {SAFETY_GM, &gm_hooks},
  {SAFETY_FORD, &ford_hooks},
  {SAFETY_CADILLAC, &cadillac_hooks},
+  {SAFETY_HYUNDAI, &hyundai_hooks},
  {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
  {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
@@ -201,3 +215,31 @@ int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
  // check for violation
  return (val < lowest_val) || (val > highest_val);
 }
+
+
+#ifdef PANDA
+// 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];
+  }
+}
+#endif
--- a/panda/board/safety/safety_cadillac.h
+++ b/panda/board/safety/safety_cadillac.h
@@ -125,7 +125,7 @@ const safety_hooks cadillac_hooks = {
  .init = cadillac_init,
  .rx = cadillac_rx_hook,
  .tx = cadillac_tx_hook,
-  .tx_lin = alloutput_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = cadillac_ign_hook,
  .fwd = alloutput_fwd_hook,
 };
--- a/panda/board/safety/safety_defaults.h
+++ b/panda/board/safety/safety_defaults.h
@@ -57,4 +57,3 @@ const safety_hooks alloutput_hooks = {
  .ignition = default_ign_hook,
  .fwd = alloutput_fwd_hook,
 };
-
--- a/panda/board/safety/safety_ford.h
+++ b/panda/board/safety/safety_ford.h
@@ -83,24 +83,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return true;
 }

-static int ford_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // TODO: add safety if using LIN
-  return true;
-}
-
-static void ford_init(int16_t param) {
-  controls_allowed = 0;
-}
-
-static int ford_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks ford_hooks = {
-  .init = ford_init,
+  .init = nooutput_init,
  .rx = ford_rx_hook,
  .tx = ford_tx_hook,
-  .tx_lin = ford_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
-  .fwd = ford_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -8,7 +8,7 @@
 //      brake rising edge
 //      brake > 0mph

-const int GM_MAX_STEER = 255;
+const int GM_MAX_STEER = 300;
 const int GM_MAX_RT_DELTA = 128;          // max delta torque allowed for real time checks
 const int32_t GM_RT_INTERVAL = 250000;    // 250ms between real time checks
 const int GM_MAX_RATE_UP = 7;
@@ -22,7 +22,7 @@ const int GM_MAX_BRAKE = 350;
 int gm_brake_prev = 0;
 int gm_gas_prev = 0;
 int gm_speed = 0;
-// silence everything if stock ECUs are still online
+// silence everything if stock car control ECUs are still online
 int gm_ascm_detected = 0;
 int gm_ignition_started = 0;
 int gm_rt_torque_last = 0;
@@ -63,8 +63,11 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    gm_speed = to_push->RDLR & 0xFFFF;
  }

-  // check if stock ASCM ECU is still online
-  if (bus_number == 0 && addr == 715) {
+  // Check if ASCM or LKA camera are online
+  // on powertrain bus.
+  // 384 = ASCMLKASteeringCmd
+  // 715 = ASCMGasRegenCmd
+  if (bus_number == 0 && (addr == 384 || addr == 715)) {
    gm_ascm_detected = 1;
    controls_allowed = 0;
  }
@@ -222,11 +225,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  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;
@@ -236,16 +234,12 @@ 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,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = gm_ign_hook,
-  .fwd = gm_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };

--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -119,7 +119,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
      if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
    }
  }
-  
+
  // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
  // ensuring that only the cancel button press is sent (VAL 2) when controls are off.
  // This avoids unintended engagements while still allowing resume spam
@@ -132,28 +132,19 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return true;
 }

-static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // TODO: add safety if using LIN
-  return true;
-}
-
 static void honda_init(int16_t param) {
  controls_allowed = 0;
  bosch_hardware = false;
  honda_alt_brake_msg = false;
 }

-static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-  return -1;
-}
-
 const safety_hooks honda_hooks = {
  .init = honda_init,
  .rx = honda_rx_hook,
  .tx = honda_tx_hook,
-  .tx_lin = honda_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
-  .fwd = honda_fwd_hook,
+  .fwd = nooutput_fwd_hook,
 };

 static void honda_bosch_init(int16_t param) {
@@ -175,7 +166,7 @@ const safety_hooks honda_bosch_hooks = {
  .init = honda_bosch_init,
  .rx = honda_rx_hook,
  .tx = honda_tx_hook,
-  .tx_lin = honda_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = honda_bosch_fwd_hook,
 };
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -0,0 +1,164 @@
+const int HYUNDAI_MAX_STEER = 250;
+const int HYUNDAI_MAX_RT_DELTA = 112;          // max delta torque allowed for real time checks
+const int32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
+const int HYUNDAI_MAX_RATE_UP = 3;
+const int HYUNDAI_MAX_RATE_DOWN = 7;
+const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
+const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
+
+int hyundai_camera_detected = 0;
+int hyundai_camera_bus = 0;
+int hyundai_giraffe_switch_2 = 0;          // is giraffe switch 2 high?
+int hyundai_rt_torque_last = 0;
+int hyundai_desired_torque_last = 0;
+int hyundai_cruise_engaged_last = 0;
+uint32_t hyundai_ts_last = 0;
+struct sample_t hyundai_torque_driver;         // last few driver torques measured
+
+static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  int bus = (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 == 897) {
+    int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
+    // update array of samples
+    update_sample(&hyundai_torque_driver, torque_driver_new);
+  }
+
+  // check if stock camera ECU is still online
+  if (bus == 0 && addr == 832) {
+    hyundai_camera_detected = 1;
+    controls_allowed = 0;
+  }
+
+  // Find out which bus the camera is on
+  if (addr == 832) {
+    hyundai_camera_bus = bus;
+  }
+
+  // enter controls on rising edge of ACC, exit controls on ACC off
+  if ((to_push->RIR>>21) == 1057) {
+    // 2 bits: 13-14
+    int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
+    if (cruise_engaged && !hyundai_cruise_engaged_last) {
+      controls_allowed = 1;
+    } else if (!cruise_engaged) {
+      controls_allowed = 0;
+    }
+    hyundai_cruise_engaged_last = cruise_engaged;
+  }
+
+  // 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
+  if ((to_push->RIR>>21) == 832 && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
+    hyundai_giraffe_switch_2 = 1;
+  }
+}
+
+static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+
+  // There can be only one! (camera)
+  if (hyundai_camera_detected) {
+    return 0;
+  }
+
+  uint32_t addr;
+  if (to_send->RIR & 4) {
+    // Extended
+    addr = to_send->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_send->RIR >> 21;
+  }
+
+  // LKA STEER: safety check
+  if (addr == 832) {
+    int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
+    uint32_t ts = TIM2->CNT;
+    int violation = 0;
+
+    if (controls_allowed) {
+
+      // *** global torque limit check ***
+      violation |= max_limit_check(desired_torque, HYUNDAI_MAX_STEER, -HYUNDAI_MAX_STEER);
+
+      // *** torque rate limit check ***
+      violation |= driver_limit_check(desired_torque, hyundai_desired_torque_last, &hyundai_torque_driver,
+        HYUNDAI_MAX_STEER, HYUNDAI_MAX_RATE_UP, HYUNDAI_MAX_RATE_DOWN,
+        HYUNDAI_DRIVER_TORQUE_ALLOWANCE, HYUNDAI_DRIVER_TORQUE_FACTOR);
+
+      // used next time
+      hyundai_desired_torque_last = desired_torque;
+
+      // *** torque real time rate limit check ***
+      violation |= rt_rate_limit_check(desired_torque, hyundai_rt_torque_last, HYUNDAI_MAX_RT_DELTA);
+
+      // every RT_INTERVAL set the new limits
+      uint32_t ts_elapsed = get_ts_elapsed(ts, hyundai_ts_last);
+      if (ts_elapsed > HYUNDAI_RT_INTERVAL) {
+        hyundai_rt_torque_last = desired_torque;
+        hyundai_ts_last = ts;
+      }
+    }
+
+    // no torque if controls is not allowed
+    if (!controls_allowed && (desired_torque != 0)) {
+      violation = 1;
+    }
+
+    // reset to 0 if either controls is not allowed or there's a violation
+    if (violation || !controls_allowed) {
+      hyundai_desired_torque_last = 0;
+      hyundai_rt_torque_last = 0;
+      hyundai_ts_last = ts;
+    }
+
+    if (violation) {
+      return false;
+    }
+  }
+
+  // FORCE CANCEL: safety check only relevant when spamming the cancel button.
+  // ensuring that only the cancel button press is sent (VAL 4) when controls are off.
+  // This avoids unintended engagements while still allowing resume spam
+  // TODO: fix bug preventing the button msg to be fwd'd on bus 2
+  //if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
+  //  if ((to_send->RDLR & 0x7) != 4) return 0;
+  //}
+
+  // 1 allows the message through
+  return true;
+}
+
+static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  // forward cam to ccan and viceversa, except lkas cmd
+  if ((bus_num == 0 || bus_num == hyundai_camera_bus) && hyundai_giraffe_switch_2) {
+
+    if ((to_fwd->RIR>>21) == 832 && bus_num == hyundai_camera_bus) return -1;
+    if (bus_num == 0) return hyundai_camera_bus;
+    if (bus_num == hyundai_camera_bus) return 0;
+  }
+  return -1;
+}
+
+static void hyundai_init(int16_t param) {
+  controls_allowed = 0;
+  hyundai_giraffe_switch_2 = 0;
+}
+
+const safety_hooks hyundai_hooks = {
+  .init = hyundai_init,
+  .rx = hyundai_rx_hook,
+  .tx = hyundai_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = hyundai_fwd_hook,
+};
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -1,32 +1,34 @@
-struct sample_t torque_meas;           // last 3 motor torques produced by the eps
+int toyota_no_dsu_car = 0;                // ch-r and camry don't have the DSU
+int toyota_giraffe_switch_1 = 0;          // is giraffe switch 1 high?

 // global torque limit
-const int MAX_TORQUE = 1500;       // max torque cmd allowed ever
+const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever

 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
-const int MAX_RATE_UP = 10;        // ramp up slow
-const int MAX_RATE_DOWN = 25;      // ramp down fast
-const int MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
+const int TOYOTA_MAX_RATE_UP = 10;        // ramp up slow
+const int TOYOTA_MAX_RATE_DOWN = 25;      // ramp down fast
+const int TOYOTA_MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor

 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
-const int MAX_RT_DELTA = 375;      // max delta torque allowed for real time checks
-const int RT_INTERVAL = 250000;    // 250ms between real time checks
+const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real time checks
+const int TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks

 // longitudinal limits
-const int MAX_ACCEL = 1500;        // 1.5 m/s2
-const int MIN_ACCEL = -3000;       // 3.0 m/s2
+const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
+const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2

 // global actuation limit state
-int actuation_limits = 1;              // by default steer limits are imposed
-int dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
+int toyota_actuation_limits = 1;          // by default steer limits are imposed
+int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file

 // state of torque limits
-int desired_torque_last = 0;       // last desired steer torque
-int rt_torque_last = 0;            // last desired torque for real time check
-uint32_t ts_last = 0;
-int cruise_engaged_last = 0;           // cruise state
+int toyota_desired_torque_last = 0;       // last desired steer torque
+int toyota_rt_torque_last = 0;            // last desired torque for real time check
+uint32_t toyota_ts_last = 0;
+int toyota_cruise_engaged_last = 0;       // cruise state
+struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps


 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@@ -36,26 +38,38 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    torque_meas_new = to_signed(torque_meas_new, 16);

    // scale by dbc_factor
-    torque_meas_new = (torque_meas_new * dbc_eps_torque_factor) / 100;
+    torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;

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

    // update array of sample
-    update_sample(&torque_meas, torque_meas_new);
+    update_sample(&toyota_torque_meas, torque_meas_new);
  }

  // enter controls on rising edge of ACC, exit controls on ACC off
  if ((to_push->RIR>>21) == 0x1D2) {
    // 4 bits: 55-52
    int cruise_engaged = to_push->RDHR & 0xF00000;
-    if (cruise_engaged && !cruise_engaged_last) {
+    if (cruise_engaged && !toyota_cruise_engaged_last) {
      controls_allowed = 1;
    } else if (!cruise_engaged) {
      controls_allowed = 0;
    }
-    cruise_engaged_last = cruise_engaged;
+    toyota_cruise_engaged_last = cruise_engaged;
  }
+
+  int bus = (to_push->RDTR >> 4) & 0xF;
+  // 0x680 is a radar msg only found in dsu-less cars
+  if ((to_push->RIR>>21) == 0x680 && (bus == 1)) {
+    toyota_no_dsu_car = 1;
+  }
+
+  // 0x2E4 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high
+  if ((to_push->RIR>>21) == 0x2E4 && (bus == 0)) {
+    toyota_giraffe_switch_1 = 1;
+  }
+
 }

 static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -70,8 +84,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
    if ((to_send->RIR>>21) == 0x343) {
      int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
      desired_accel = to_signed(desired_accel, 16);
-      if (controls_allowed && actuation_limits) {
-        int violation = max_limit_check(desired_accel, MAX_ACCEL, MIN_ACCEL);
+      if (controls_allowed && toyota_actuation_limits) {
+        int violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
        if (violation) return 0;
      } else if (!controls_allowed && (desired_accel != 0)) {
        return 0;
@@ -87,28 +101,29 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
      uint32_t ts = TIM2->CNT;

      // only check if controls are allowed and actuation_limits are imposed
-      if (controls_allowed && actuation_limits) {
+      if (controls_allowed && toyota_actuation_limits) {

        // *** global torque limit check ***
-        violation |= max_limit_check(desired_torque, MAX_TORQUE, -MAX_TORQUE);
+        violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);

        // *** torque rate limit check ***
-        violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, MAX_RATE_UP, MAX_RATE_DOWN, MAX_TORQUE_ERROR);
+        violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
+          &toyota_torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);

        // used next time
-        desired_torque_last = desired_torque;
+        toyota_desired_torque_last = desired_torque;

        // *** torque real time rate limit check ***
-        violation |= rt_rate_limit_check(desired_torque, rt_torque_last, MAX_RT_DELTA);
+        violation |= rt_rate_limit_check(desired_torque, toyota_rt_torque_last, TOYOTA_MAX_RT_DELTA);

        // every RT_INTERVAL set the new limits
-        uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
-        if (ts_elapsed > RT_INTERVAL) {
-          rt_torque_last = desired_torque;
-          ts_last = ts;
+        uint32_t ts_elapsed = get_ts_elapsed(ts, toyota_ts_last);
+        if (ts_elapsed > TOYOTA_RT_INTERVAL) {
+          toyota_rt_torque_last = desired_torque;
+          toyota_ts_last = ts;
        }
      }
-      
+
      // no torque if controls is not allowed
      if (!controls_allowed && (desired_torque != 0)) {
        violation = 1;
@@ -116,9 +131,9 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

      // reset to 0 if either controls is not allowed or there's a violation
      if (violation || !controls_allowed) {
-        desired_torque_last = 0;
-        rt_torque_last = 0;
-        ts_last = ts;
+        toyota_desired_torque_last = 0;
+        toyota_rt_torque_last = 0;
+        toyota_ts_last = ts;
      }

      if (violation) {
@@ -131,18 +146,21 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return true;
 }

-static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
-  // TODO: add safety if using LIN
-  return true;
-}
-
 static void toyota_init(int16_t param) {
  controls_allowed = 0;
-  actuation_limits = 1;
-  dbc_eps_torque_factor = param;
+  toyota_actuation_limits = 1;
+  toyota_giraffe_switch_1 = 0;
+  toyota_dbc_eps_torque_factor = param;
 }

 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+
+  // forward cam to radar and viceversa if car is dsu-less, except lkas cmd and hud
+  if ((bus_num == 0 || bus_num == 2) && toyota_no_dsu_car && !toyota_giraffe_switch_1) {
+    int addr = to_fwd->RIR>>21;
+    bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412) && bus_num == 2;
+    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
+  }
  return -1;
 }

@@ -150,22 +168,23 @@ const safety_hooks toyota_hooks = {
  .init = toyota_init,
  .rx = toyota_rx_hook,
  .tx = toyota_tx_hook,
-  .tx_lin = toyota_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = toyota_fwd_hook,
 };

 static void toyota_nolimits_init(int16_t param) {
  controls_allowed = 0;
-  actuation_limits = 0;
-  dbc_eps_torque_factor = param;
+  toyota_actuation_limits = 0;
+  toyota_giraffe_switch_1 = 0;
+  toyota_dbc_eps_torque_factor = param;
 }

 const safety_hooks toyota_nolimits_hooks = {
  .init = toyota_nolimits_init,
  .rx = toyota_rx_hook,
  .tx = toyota_tx_hook,
-  .tx_lin = toyota_tx_lin_hook,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = toyota_fwd_hook,
 };
--- a/panda/board/safety/safety_toyota_ipas.h
+++ b/panda/board/safety/safety_toyota_ipas.h
@@ -2,12 +2,7 @@
 // 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];
-};
+const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200;  // disallow controls when user torque exceeds this value

 // 2m/s are added to be less restrictive
 const struct lookup_t LOOKUP_ANGLE_RATE_UP = {
@@ -35,31 +30,6 @@ uint32_t ts_angle_last = 0;

 int controls_allowed_last = 0;

-// 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
@@ -92,7 +62,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

    // 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)) {
+    if ((ts_elapsed > TOYOTA_RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
      rt_angle_last = angle_meas_new;
      ts_angle_last = ts;
    }
@@ -118,8 +88,8 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  }

  // exit controls on high steering override
-  if (angle_control && ((torque_driver.min > IPAS_OVERRIDE_THRESHOLD) ||
-                        (torque_driver.max < -IPAS_OVERRIDE_THRESHOLD) ||
+  if (angle_control && ((torque_driver.min > TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
+                        (torque_driver.max < -TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
                        (ipas_state==5))) {
    controls_allowed = 0;
  }
@@ -146,15 +116,15 @@ static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
        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) || 
+        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) && 
+      if ((!controls_allowed) &&
           ((desired_angle < (angle_meas.min - 1)) ||
            (desired_angle > (angle_meas.max + 1)) ||
            (ipas_state_cmd != 1))) {
@@ -179,7 +149,7 @@ 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,
+  .tx_lin = nooutput_tx_lin_hook,
  .ignition = default_ign_hook,
  .fwd = toyota_fwd_hook,
 };
--- a/panda/boardesp/README.md
+++ b/panda/boardesp/README.md
@@ -2,13 +2,13 @@
 Dependencies
 -----

-**Mac**
+**Debian / Ubuntu**

 ```
 ./get_sdk.sh
 ```

-**Debian / Ubuntu**
+**Mac**

 ```
 ./get_sdk_mac.sh
--- a/panda/examples/get_panda_password.py
+++ b/panda/examples/get_panda_password.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+from panda import Panda
+
+def get_panda_password():
+  
+  try:
+    print("Trying to connect to Panda over USB...")
+    p = Panda()
+    
+  except AssertionError:
+    print("USB connection failed")
+    sys.exit(0)
+
+  wifi = p.get_serial()
+  #print('[%s]' % ', '.join(map(str, wifi)))
+  print("SSID: " + wifi[0])
+  print("Password: " + wifi[1])
+  
+if __name__ == "__main__":
+  get_panda_password()
--- a/panda/examples/tesla_tester.py
+++ b/panda/examples/tesla_tester.py
@@ -29,11 +29,11 @@ def tesla_tester():
  
  # BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more. For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
  print("Unlocking Tesla...")
-  p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", bus_num)
+  p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)

  #Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both)
  print("Opening Frunk...")
-  p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", bus_num)
+  p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
  
  #Back to safety...
  print("Disabling output on Panda...")
@@ -41,7 +41,6 @@ def tesla_tester():
  
  print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...")
  
-  cnt = 0
  vin = {}
  while True:
    #Read the VIN
@@ -53,11 +52,10 @@ def tesla_tester():
          vin_string = binascii.hexlify(dat)[2:] #rest of the string is the actual VIN data
          vin[vin_index] = vin_string.decode("hex")
          print("Got VIN index " + str(vin_index) + " data " + vin[vin_index])
-          cnt += 1
    #if we have all 3 parts of the VIN, print it and break out of our while loop
-    if cnt == 3:
+    if 0 in vin and 1 in vin and 2 in vin:
      print("VIN: " + vin[0] + vin[1] + vin[2][:3])
      break

 if __name__ == "__main__":
-  tesla_tester()
+  tesla_tester()
--- a/panda/tests/safety/libpandasafety_py.py
+++ b/panda/tests/safety/libpandasafety_py.py
@@ -38,13 +38,14 @@ void reset_angle_control(void);
 int get_controls_allowed(void);
 void init_tests_toyota(void);
 void set_timer(int t);
-void set_torque_meas(int min, int max);
+void set_toyota_torque_meas(int min, int max);
 void set_cadillac_torque_driver(int min, int max);
 void set_gm_torque_driver(int min, int max);
-void set_rt_torque_last(int t);
-void set_desired_torque_last(int t);
-int get_torque_meas_min(void);
-int get_torque_meas_max(void);
+void set_hyundai_torque_driver(int min, int max);
+void set_toyota_rt_torque_last(int t);
+void set_toyota_desired_torque_last(int t);
+int get_toyota_torque_meas_min(void);
+int get_toyota_torque_meas_max(void);

 void init_tests_honda(void);
 int get_ego_speed(void);
@@ -70,6 +71,13 @@ int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 void set_gm_desired_torque_last(int t);
 void set_gm_rt_torque_last(int t);

+void init_tests_hyundai(void);
+void nooutput_init(int16_t param);
+void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+void set_hyundai_desired_torque_last(int t);
+void set_hyundai_rt_torque_last(int t);
+
 void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);

--- a/panda/tests/safety/test.c
+++ b/panda/tests/safety/test.c
@@ -22,9 +22,10 @@ typedef struct
  uint32_t CNT;
 } TIM_TypeDef;

-struct sample_t torque_meas;
+struct sample_t toyota_torque_meas;
 struct sample_t cadillac_torque_driver;
 struct sample_t gm_torque_driver;
+struct sample_t hyundai_torque_driver;

 TIM_TypeDef timer;
 TIM_TypeDef *TIM2 = &timer;
@@ -60,9 +61,9 @@ void set_timer(int t){
  timer.CNT = t;
 }

-void set_torque_meas(int min, int max){
-  torque_meas.min = min;
-  torque_meas.max = max;
+void set_toyota_torque_meas(int min, int max){
+  toyota_torque_meas.min = min;
+  toyota_torque_meas.max = max;
 }

 void set_cadillac_torque_driver(int min, int max){
@@ -75,16 +76,21 @@ void set_gm_torque_driver(int min, int max){
  gm_torque_driver.max = max;
 }

-int get_torque_meas_min(void){
-  return torque_meas.min;
+void set_hyundai_torque_driver(int min, int max){
+  hyundai_torque_driver.min = min;
+  hyundai_torque_driver.max = max;
 }

-int get_torque_meas_max(void){
-  return torque_meas.max;
+int get_toyota_torque_meas_min(void){
+  return toyota_torque_meas.min;
 }

-void set_rt_torque_last(int t){
-  rt_torque_last = t;
+int get_toyota_torque_meas_max(void){
+  return toyota_torque_meas.max;
+}
+
+void set_toyota_rt_torque_last(int t){
+  toyota_rt_torque_last = t;
 }

 void set_cadillac_rt_torque_last(int t){
@@ -95,8 +101,12 @@ void set_gm_rt_torque_last(int t){
  gm_rt_torque_last = t;
 }

-void set_desired_torque_last(int t){
-  desired_torque_last = t;
+void set_hyundai_rt_torque_last(int t){
+  hyundai_rt_torque_last = t;
+}
+
+void set_toyota_desired_torque_last(int t){
+  toyota_desired_torque_last = t;
 }

 void set_cadillac_desired_torque_last(int t){
@@ -107,6 +117,9 @@ void set_gm_desired_torque_last(int t){
  gm_desired_torque_last = t;
 }

+void set_hyundai_desired_torque_last(int t){
+  hyundai_desired_torque_last = t;
+}

 int get_ego_speed(void){
  return ego_speed;
@@ -129,11 +142,11 @@ void set_bosch_hardware(bool c){
 }

 void init_tests_toyota(void){
-  torque_meas.min = 0;
-  torque_meas.max = 0;
-  desired_torque_last = 0;
-  rt_torque_last = 0;
-  ts_last = 0;
+  toyota_torque_meas.min = 0;
+  toyota_torque_meas.max = 0;
+  toyota_desired_torque_last = 0;
+  toyota_rt_torque_last = 0;
+  toyota_ts_last = 0;
  set_timer(0);
 }

@@ -155,6 +168,15 @@ void init_tests_gm(void){
  set_timer(0);
 }

+void init_tests_hyundai(void){
+  hyundai_torque_driver.min = 0;
+  hyundai_torque_driver.max = 0;
+  hyundai_desired_torque_last = 0;
+  hyundai_rt_torque_last = 0;
+  hyundai_ts_last = 0;
+  set_timer(0);
+}
+
 void init_tests_honda(void){
  ego_speed = 0;
  gas_interceptor_detected = 0;
--- a/panda/tests/safety/test_gm.py
+++ b/panda/tests/safety/test_gm.py
@@ -5,7 +5,7 @@ import libpandasafety_py

 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
-MAX_STEER = 255
+MAX_STEER = 300
 MAX_BRAKE = 350
 MAX_GAS = 3072
 MAX_REGEN = 1404
@@ -84,10 +84,6 @@ class TestGmSafety(unittest.TestCase):
    to_send[0].RDHR = (((t >> 8) & 0x7) << 16) | ((t & 0xFF) << 24)
    return to_send

-  def _torque_driver_msg_array(self, torque):
-    for i in range(3):
-      self.safety.gm_ipas_rx_hook(self._torque_driver_msg(torque))
-
  def _torque_msg(self, torque):
    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
    to_send[0].RIR = 384 << 21
@@ -117,7 +113,7 @@ class TestGmSafety(unittest.TestCase):
    self.safety.gm_rx_hook(self._button_msg(CANCEL_BTN))
    self.assertFalse(self.safety.get_controls_allowed())

-  def test_disengage_on_brake(self): 
+  def test_disengage_on_brake(self):
    self.safety.set_controls_allowed(1)
    self.safety.gm_rx_hook(self._brake_msg(True))
    self.assertFalse(self.safety.get_controls_allowed())
--- a/panda/tests/safety/test_honda.py
+++ b/panda/tests/safety/test_honda.py
@@ -108,7 +108,7 @@ class TestHondaSafety(unittest.TestCase):
    self.safety.set_controls_allowed(1)
    self.safety.honda_rx_hook(self._alt_brake_msg(1))
    self.assertFalse(self.safety.get_controls_allowed())
-    
+
    self.safety.set_honda_alt_brake_msg(0)
    self.safety.set_controls_allowed(1)
    self.safety.honda_rx_hook(self._alt_brake_msg(1))
--- a/panda/tests/safety/test_hyundai.py
+++ b/panda/tests/safety/test_hyundai.py
@@ -0,0 +1,186 @@
+#!/usr/bin/env python2
+import unittest
+import numpy as np
+import libpandasafety_py
+
+MAX_RATE_UP = 3
+MAX_RATE_DOWN = 7
+MAX_STEER = 250
+
+MAX_RT_DELTA = 112
+RT_INTERVAL = 250000
+
+DRIVER_TORQUE_ALLOWANCE = 50;
+DRIVER_TORQUE_FACTOR = 2;
+
+def twos_comp(val, bits):
+  if val >= 0:
+    return val
+  else:
+    return (2**bits) + val
+
+def sign(a):
+  if a > 0:
+    return 1
+  else:
+    return -1
+
+class TestHyundaiSafety(unittest.TestCase):
+  @classmethod
+  def setUp(cls):
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.nooutput_init(0)
+    cls.safety.init_tests_hyundai()
+
+  def _button_msg(self, buttons):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 1265 << 21
+    to_send[0].RDLR = buttons
+    return to_send
+
+  def _set_prev_torque(self, t):
+    self.safety.set_hyundai_desired_torque_last(t)
+    self.safety.set_hyundai_rt_torque_last(t)
+
+  def _torque_driver_msg(self, torque):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 897 << 21
+    to_send[0].RDLR = (torque + 2048) << 11
+    return to_send
+
+  def _torque_msg(self, torque):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 832 << 21
+    to_send[0].RDLR = (torque + 1024) << 16
+    return to_send
+
+  def test_default_controls_not_allowed(self):
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_steer_safety_check(self):
+    for enabled in [0, 1]:
+      for t in range(-0x200, 0x200):
+        self.safety.set_controls_allowed(enabled)
+        self._set_prev_torque(t)
+        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
+          self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+        else:
+          self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+
+  def test_manually_enable_controls_allowed(self):
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_controls_allowed(0)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_enable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 1057 << 21
+    to_push[0].RDLR = 1 << 13
+
+    self.safety.hyundai_rx_hook(to_push)
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_disable_control_allowed_from_cruise(self):
+    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_push[0].RIR = 1057 << 21
+    to_push[0].RDLR = 0
+
+    self.safety.set_controls_allowed(1)
+    self.safety.hyundai_rx_hook(to_push)
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_non_realtime_limit_up(self):
+    self.safety.set_hyundai_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP)))
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP)))
+
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
+    self.safety.set_controls_allowed(True)
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
+
+  def test_non_realtime_limit_down(self):
+    self.safety.set_hyundai_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+  def test_against_torque_driver(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
+        t *= -sign
+        self.safety.set_hyundai_torque_driver(t, t)
+        self._set_prev_torque(MAX_STEER * sign)
+        self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_STEER * sign)))
+
+      self.safety.set_hyundai_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_STEER)))
+
+    # spot check some individual cases
+    for sign in [-1, 1]:
+      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
+      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
+      delta = 1 * sign
+      self._set_prev_torque(torque_desired)
+      self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired)))
+      self._set_prev_torque(torque_desired + delta)
+      self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired + delta)))
+
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(0)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
+
+
+  def test_realtime_limits(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      self.safety.init_tests_hyundai()
+      self._set_prev_torque(0)
+      self.safety.set_hyundai_torque_driver(0, 0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+      self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+      self._set_prev_torque(0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
+
+      # Increase timer to update rt_torque_last
+      self.safety.set_timer(RT_INTERVAL + 1)
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
+      self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
+
+
+  #def test_spam_cancel_safety_check(self):
+  #  RESUME_BTN = 1
+  #  SET_BTN = 2
+  #  CANCEL_BTN = 4
+  #  BUTTON_MSG = 1265
+  #  self.safety.set_controls_allowed(0)
+  #  self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
+  #  self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
+  #  self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
+  #  # do not block resume if we are engaged already
+  #  self.safety.set_controls_allowed(1)
+  #  self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
+
+
+if __name__ == "__main__":
+  unittest.main()
--- a/panda/tests/safety/test_toyota.py
+++ b/panda/tests/safety/test_toyota.py
@@ -41,9 +41,9 @@ class TestToyotaSafety(unittest.TestCase):
    cls.safety.init_tests_toyota()

  def _set_prev_torque(self, t):
-    self.safety.set_desired_torque_last(t)
-    self.safety.set_rt_torque_last(t)
-    self.safety.set_torque_meas(t, t)
+    self.safety.set_toyota_desired_torque_last(t)
+    self.safety.set_toyota_rt_torque_last(t)
+    self.safety.set_toyota_torque_meas(t, t)

  def _torque_meas_msg(self, torque):
    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
@@ -158,9 +158,9 @@ class TestToyotaSafety(unittest.TestCase):
    for controls_allowed in [True, False]:
      for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
          self.safety.set_controls_allowed(controls_allowed)
-          self.safety.set_rt_torque_last(torque)
-          self.safety.set_torque_meas(torque, torque)
-          self.safety.set_desired_torque_last(torque - MAX_RATE_UP)
+          self.safety.set_toyota_rt_torque_last(torque)
+          self.safety.set_toyota_torque_meas(torque, torque)
+          self.safety.set_toyota_desired_torque_last(torque - MAX_RATE_UP)

          if controls_allowed:
            send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
@@ -181,14 +181,14 @@ class TestToyotaSafety(unittest.TestCase):
  def test_non_realtime_limit_down(self):
    self.safety.set_controls_allowed(True)

-    self.safety.set_rt_torque_last(1000)
-    self.safety.set_torque_meas(500, 500)
-    self.safety.set_desired_torque_last(1000)
+    self.safety.set_toyota_rt_torque_last(1000)
+    self.safety.set_toyota_torque_meas(500, 500)
+    self.safety.set_toyota_desired_torque_last(1000)
    self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN)))

-    self.safety.set_rt_torque_last(1000)
-    self.safety.set_torque_meas(500, 500)
-    self.safety.set_desired_torque_last(1000)
+    self.safety.set_toyota_rt_torque_last(1000)
+    self.safety.set_toyota_torque_meas(500, 500)
+    self.safety.set_toyota_desired_torque_last(1000)
    self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN + 1)))

  def test_exceed_torque_sensor(self):
@@ -210,14 +210,14 @@ class TestToyotaSafety(unittest.TestCase):
      self._set_prev_torque(0)
      for t in np.arange(0, 380, 10):
        t *= sign
-        self.safety.set_torque_meas(t, t)
+        self.safety.set_toyota_torque_meas(t, t)
        self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))
      self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(sign * 380)))

      self._set_prev_torque(0)
      for t in np.arange(0, 370, 10):
        t *= sign
-        self.safety.set_torque_meas(t, t)
+        self.safety.set_toyota_torque_meas(t, t)
        self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))

      # Increase timer to update rt_torque_last
@@ -233,16 +233,16 @@ class TestToyotaSafety(unittest.TestCase):
    self.safety.toyota_rx_hook(self._torque_meas_msg(0))
    self.safety.toyota_rx_hook(self._torque_meas_msg(0))

-    self.assertEqual(-51, self.safety.get_torque_meas_min())
-    self.assertEqual(51, self.safety.get_torque_meas_max())
+    self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
+    self.assertEqual(51, self.safety.get_toyota_torque_meas_max())

    self.safety.toyota_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(-1, self.safety.get_torque_meas_max())
-    self.assertEqual(-51, self.safety.get_torque_meas_min())
+    self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
+    self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())

    self.safety.toyota_rx_hook(self._torque_meas_msg(0))
-    self.assertEqual(-1, self.safety.get_torque_meas_max())
-    self.assertEqual(-1, self.safety.get_torque_meas_min())
+    self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
+    self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())

  def test_ipas_override(self):

--- a/requirements_openpilot.txt
+++ b/requirements_openpilot.txt
@@ -1,6 +1,6 @@
-Cython==0.24.1
+Cython==0.27.3
 bitstring==3.1.5
-fastcluster==1.1.21
+fastcluster==1.1.20
 libusb1==1.5.0
 pycapnp==0.6.3
 pyzmq==15.4.0
@@ -9,11 +9,11 @@ requests==2.10.0
 setproctitle==1.1.10
 simplejson==3.8.2
 pyyaml==3.12
-cffi==1.7.0
-enum34==1.1.1
+cffi==1.11.5
+enum34==1.1.6
 sympy==1.1.1
-filterpy==1.0.0
+filterpy==1.2.4
 smbus2==0.2.0
-pyflakes==1.5.0
+pyflakes==1.6.0
 -e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
-Flask==1.0.1
+Flask==1.0.2
--- a/selfdrive/assets/img_driver_face.png
+++ b/selfdrive/assets/img_driver_face.png
--- a/selfdrive/boardd/Makefile
+++ b/selfdrive/boardd/Makefile
@@ -13,8 +13,8 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
             -Werror=return-type \
             -Werror=format-extra-args

-CFLAGS = -std=gnu11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
+CFLAGS = -std=gnu11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)

 ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
 ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -39,6 +39,7 @@
 #define SAFETY_HONDA_BOSCH 4
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
+#define SAFETY_HYUNDAI 7
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337

@@ -113,6 +114,9 @@ void *safety_setter_thread(void *s) {
  case (int)cereal::CarParams::SafetyModels::CADILLAC:
    safety_setting = SAFETY_CADILLAC;
    break;
+  case (int)cereal::CarParams::SafetyModels::HYUNDAI:
+    safety_setting = SAFETY_HYUNDAI;
+    break;
  default:
    LOGE("unknown safety model: %d", safety_model);
  }
@@ -584,7 +588,7 @@ void *pigeon_thread(void *crap) {
      //printf("got %d\n", len);
      alen += len;
    }
-    if (alen > 0) { 
+    if (alen > 0) {
      if (dat[0] == (char)0x00){
        LOGW("received invalid ublox message, resetting pigeon");
        pigeon_init();
--- a/selfdrive/can/common.h
+++ b/selfdrive/can/common.h
@@ -60,10 +60,19 @@ struct Msg {
  const Signal *sigs;
 };

+struct Val {
+  const char* name;
+  uint32_t address;
+  const char* def_val;
+  const Signal *sigs;
+};
+
 struct DBC {
  const char* name;
  size_t num_msgs;
  const Msg *msgs;
+  const Val *vals;
+  size_t num_vals;
 };

 const DBC* dbc_lookup(const std::string& dbc_name);
--- a/selfdrive/can/dbc_template.cc
+++ b/selfdrive/can/dbc_template.cc
@@ -48,12 +48,28 @@ const Msg msgs[] = {
 {% endfor %}
 };

+const Val vals[] = {
+{% for address, sig in def_vals %}
+  {% for sg_name, def_val in sig %}
+    {% set address_hex = "0x%X" % address %}
+    {
+      .name = "{{sg_name}}",
+      .address = {{address_hex}},
+      .def_val = {{def_val}},
+      .sigs = sigs_{{address}},
+    },
+  {% endfor %}
+{% endfor %}
+};
+
 }

 const DBC {{dbc.name}} = {
  .name = "{{dbc.name}}",
  .num_msgs = ARRAYSIZE(msgs),
  .msgs = msgs,
+  .vals = vals,
+  .num_vals = ARRAYSIZE(vals),
 };

 dbc_init({{dbc.name}})
--- a/selfdrive/can/libdbc_py.py
+++ b/selfdrive/can/libdbc_py.py
@@ -57,10 +57,19 @@ typedef struct {
  const Signal *sigs;
 } Msg;

+typedef struct {
+  const char* name;
+  uint32_t address;
+  const char* def_val;
+  const Signal *sigs;
+} Val;
+
 typedef struct {
  const char* name;
  size_t num_msgs;
  const Msg *msgs;
+  const Val *vals;
+  size_t num_vals;
 } DBC;


--- a/selfdrive/can/packer.cc
+++ b/selfdrive/can/packer.cc
@@ -1,5 +1,4 @@
 #include <cassert>
-
 #include <string>
 #include <vector>
 #include <utility>
@@ -13,9 +12,26 @@

 namespace {

+  // this is the same as read_u64_le, but uses uint64_t as in/out
+  uint64_t ReverseBytes(uint64_t x) {
+    return ((x & 0xff00000000000000ull) >> 56) |
+           ((x & 0x00ff000000000000ull) >> 40) |
+           ((x & 0x0000ff0000000000ull) >> 24) |
+           ((x & 0x000000ff00000000ull) >> 8) |
+           ((x & 0x00000000ff000000ull) << 8) |
+           ((x & 0x0000000000ff0000ull) << 24) |
+           ((x & 0x000000000000ff00ull) << 40) |
+           ((x & 0x00000000000000ffull) << 56);
+  }
+
  uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
-    uint64_t mask = ((1ULL << sig.b2)-1) << sig.bo;
-    uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << sig.bo;
+    int shift = sig.is_little_endian? sig.b1 : sig.bo;
+    uint64_t mask = ((1ULL << sig.b2)-1) << shift;
+    uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
+    if (sig.is_little_endian) {
+      dat = ReverseBytes(dat);
+      mask = ReverseBytes(mask);
+    }
    ret &= ~mask;
    ret |= dat;
    return ret;
--- a/selfdrive/can/packer.py
+++ b/selfdrive/can/packer.py
@@ -46,9 +46,22 @@ class CANPacker(object):


 if __name__ == "__main__":
-  cp = CANPacker("honda_civic_touring_2016_can_generated")
-  s = cp.pack_bytes(0x30c, [
-    ("PCM_SPEED", 123),
-    ("PCM_GAS", 10),
-  ])
+  ## little endian test
+  cp = CANPacker("hyundai_santa_fe_2019_ccan")
+  s = cp.pack_bytes(0x340, {
+    "CR_Lkas_StrToqReq": -0.06,
+    #"CF_Lkas_FcwBasReq": 1,
+    "CF_Lkas_MsgCount": 7,
+    "CF_Lkas_HbaSysState": 0,
+    #"CF_Lkas_Chksum": 3,
+  })
+  s = cp.pack_bytes(0x340, {
+    "CF_Lkas_MsgCount": 1,
+  })
+  # big endian test
+  #cp = CANPacker("honda_civic_touring_2016_can_generated")
+  #s = cp.pack_bytes(0xe4, {
+  #  "STEER_TORQUE": -2,
+  #})
+  print [hex(ord(v)) for v in s[1]]
  print(s[1].encode("hex"))
--- a/selfdrive/can/parser.cc
+++ b/selfdrive/can/parser.cc
@@ -259,6 +259,7 @@ class CANParser {
        memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());

        // Assumes all signals in the message are of the same type (little or big endian)
+        // TODO: allow signals within the same message to have different endianess
        auto& sig = message_states[cmsg.getAddress()].parse_sigs[0];
        if (sig.is_little_endian) {
            p = read_u64_le(dat);
--- a/selfdrive/can/parser.py
+++ b/selfdrive/can/parser.py
@@ -93,6 +93,44 @@ class CANParser(object):
    libdbc.can_update(self.can, sec, wait)
    return self.update_vl(sec)

+class CANDefine(object):
+  def __init__(self, dbc_name):
+    self.dv = defaultdict(dict)
+    self.dbc_name = dbc_name
+    self.dbc = libdbc.dbc_lookup(dbc_name)
+
+    num_vals = self.dbc[0].num_vals
+
+    self.address_to_msg_name = {}
+    num_msgs = self.dbc[0].num_msgs
+    for i in range(num_msgs):
+      msg = self.dbc[0].msgs[i]
+      name = ffi.string(msg.name)
+      address = msg.address
+      self.address_to_msg_name[address] = name
+
+    for i in range(num_vals):
+      val = self.dbc[0].vals[i]
+
+      sgname = ffi.string(val.name)
+      address = val.address
+      def_val = ffi.string(val.def_val)
+
+      #separate definition/value pairs
+      def_val = def_val.split()
+      values = [int(v) for v in def_val[::2]]
+      defs = def_val[1::2]
+
+      if address not in self.dv:
+        self.dv[address] = {}
+        msgname = self.address_to_msg_name[address]
+        self.dv[msgname] = {}
+
+      # two ways to lookup: address or msg name
+      self.dv[address][sgname] = {v: d for v, d in zip(values, defs)} #build dict
+      self.dv[msgname][sgname] = self.dv[address][sgname]
+
+
 if __name__ == "__main__":
  from common.realtime import sec_since_boot

--- a/selfdrive/can/process_dbc.py
+++ b/selfdrive/can/process_dbc.py
@@ -24,6 +24,9 @@ with open(template_fn, "r") as template_f:
 msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
        for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.iteritems()) if msg_sigs]

+def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
+def_vals = [(address, sig) for address, sig in sorted(def_vals.iteritems())]
+
 if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
  checksum_type = "honda"
  checksum_size = 4
@@ -55,7 +58,7 @@ for name, count in c.items():
  if count > 1:
    sys.exit("Duplicate message name in DBC file %s" % name)

-parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, len=len)
+parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)

 with open(out_fn, "w") as out_f:
  out_f.write(parser_code)
--- a/selfdrive/car/init.py
+++ b/selfdrive/car/init.py
@@ -1,4 +1,26 @@
 # functions common among cars
+from common.numpy_fast import clip
+

 def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
+
+
+def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
+
+  # limits due to driver torque
+  driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
+  max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
+  min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
+  apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
+
+  # slow rate if steer torque increases in magnitude
+  if apply_torque_last > 0:
+    apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
+                                    apply_torque_last + LIMITS.STEER_DELTA_UP)
+  else:
+    apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
+                                    min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
+
+  return int(round(apply_torque))
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -97,6 +97,7 @@ def get_car(logcan, sendcan=None, passive=True):
      return None, None

  interface_cls = interfaces[candidate]
+
  if interface_cls is None:
    cloudlog.warning("car matched %s, but interface wasn't available or failed to import" % candidate)
    return None, None
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -6,21 +6,6 @@ import numpy as np

 WHEEL_RADIUS = 0.33

-def parse_gear_shifter(can_gear, car_fingerprint):
-  # TODO: Use values from DBC to parse this field
-  if can_gear == 0x0:
-    return "park"
-  elif can_gear == 0x1:
-    return "reverse"
-  elif can_gear == 0x2:
-    return "neutral"
-  elif can_gear == 0x3:
-    return "drive"
-  elif can_gear == 0x4:
-    return "brake"
-  return "unknown"
-
-
 def get_can_parser(CP):

  signals = [
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	a422246dc3	openpilot v0.5.4 release	2018-09-25 00:13:41 -07:00
Vehicle Researcher	e5b2ec4f01	Merge opendbc subtree	2018-09-25 00:04:00 -07:00
Vehicle Researcher	906b55a5bd	Squashed 'opendbc/' changes from af7fff8..42f8c12 42f8c12 Adds Chinese Odyssey DBC (#110) 7b87882 Syntax and encoding fixes (#111) f85e646 Update mercedes e350 dbc (#112) git-subtree-dir: opendbc git-subtree-split: 42f8c129c627fa0650b3cc423028c9a758fef86d	2018-09-25 00:04:00 -07:00
Vehicle Researcher	97f1ee4a0d	Merge panda subtree	2018-09-25 00:03:58 -07:00
Vehicle Researcher	5c0935d253	Squashed 'panda/' changes from f2292e4..5253ab0 5253ab0 bump panda 6277139 GM Volt: allowing 300 max steer 63b7926 Hyundai safety: temporarily disabled button spam check to avoid camera faults 53aef76 GM: passive on LKA-only cars (#135) 01b5235 bumped panda version 1c0ffd1 Hyundai safety: simplifications 56794d6 Hyundai Safety Auto-Detect which CAN bus Camera is on (#134) git-subtree-dir: panda git-subtree-split: 5253ab0ee8fd71f67f62ee1d08361459903c7172	2018-09-25 00:03:58 -07:00
Vasily Tarasov	2d450bc3a8	Increase Volt's steering limit (#351 ) * Increase Volt's steering limit * Merge panda subtree	2018-09-22 04:41:44 +02:00
Vasily Tarasov	96c923875b	GM refactor (#374 )	2018-09-22 04:40:52 +02:00
wocsor	14b7eadf63	Add XSE trim to fingerprints (#372 )	2018-09-21 01:06:15 +02:00
Ted Slesinski	402faabd42	Docker environment breaking (#369 ) * Fixes matplotlib dependency * Use version 2.1.2	2018-09-20 02:59:18 +02:00
Ted Slesinski	de79a07745	Add support for accord hybrid (#361 )	2018-09-18 06:39:58 +02:00
wocsor	4b2c137489	update CHR fingerprint (#364 ) CHR 2016 fingerprint has more messages	2018-09-17 22:24:52 +02:00
Andrew Frahn	b3654cbcc9	Kia Sorento and future Multi-Car Support (#346 ) * hyundai WIP * steer_driver_factor is 1 * removed unnecessary file * removed unnecessary code * Update carcontroller.py bug fix * safety tuning and fixed interface stiffness * better lateral tuning, some fixes * Fix set speed * added camera state reading, autoresume from stop, cancel on accel, hud alerts * WIP * Updated for Kia Sorento WIP * Cleanup * clean2 * Bug Fixes * pre-merge * Add all the cars! * Panda to auto-detect Camera Bus * Move Checksum Check * Final Sorento Tuning * Make CAN3 for Cam default * Update README.md * update panda, minor aesthetic updates * few other minor changes * added steer not allowed alert * bup panda version to force panda update * fixed camera alerts	2018-09-10 00:30:36 +02:00
rbiasini	d2b8c4f0cb	fixed sign in after Google change (#357 )	2018-09-08 06:19:48 +02:00
zeeexsixare	50d9c446cf	Tried native Stop and Go on Highlander ICE with no comma pedal: Works! (#353 ) * Trying to make Highlander ICE stop and go * Making acceleration slow for fuel efficiency * Removing annoying commanded disengage beep * Raised accel_max by 50% and commented on chime * Testing if Highlander ICE can resume follow from 0 * Returned to 1.5 m/s2 for testing stop and go * Prep for merging upstream * Prep for upstream merge item #2 * Added Highlander ICE/Hybrid to Stop and Go Also updated table of vehicles * Rollback advertising stop and go for Highlanders * Fix whitespace	2018-09-07 05:03:10 +02:00
Vasily Tarasov	6eb1247426	GM: update readme, ACC is a required package (#354 ) ACC implies Driver Confidence II, but not the other way around. Openpilot requires front, long range radar that only comes with ACC package.	2018-09-07 05:01:53 +02:00
Vasily Tarasov	faea9a42c4	GM: go passive if detected ASCM or LKA camera (#350 ) Since fingerprint is powertrain CAN only, camera still present on object bus is not an issue.	2018-09-06 20:59:05 +02:00
daehahn	86813e6d37	Correct typo for Highlander (#349 )	2018-09-05 15:29:36 -07:00
Vasily Tarasov	012727ef60	Change dashboard command of GM to use packer (#347 ) * Change dashboard command of GM to use packer Also, separate "follow distance" from "engaged". * Fix dashboard setSpeed scaling	2018-09-04 00:21:04 -07:00
Vasily Tarasov	9653f9d6a6	Fix pre-enable engagement on GM (#348 ) In 2017 Volts, PCM fault occurs for a few seconds if ACC gas is commanded while user presses gas pedal. PID winds up, and when PCM fault clears, car gets a "max gas" jolt. In 2018 Volts, PCM fault doesn't time out, which means pre-enable doesn't work at all, and car would slowly decelerate, while openpilot thinks it's engaged.	2018-09-04 00:16:09 -07:00
Vehicle Researcher	285c52eb69	openpilot v0.5.3 release	2018-09-03 16:43:12 -07:00
Vehicle Researcher	75db5e854e	Squashed 'opendbc/' changes from 2210752..af7fff8 af7fff8 Toyota Highlander: fixed dbc file name 3a979f5 Added Toyota Highlander Hybrid 3148fab Tesla: Add missing line break after VAL_ 69 WprSw6Posn (#109) f70b8dc Hyundai: not sure why steer angle was unigned... seems a bug 1f40c31 Santa Fe: dealing with steer torque integer is easier for now c081f73 Santa Fe: how come the steer angle sign was wrong 0da25ac Toyota Pedal Support (#108) 353aa54 Santa Fe: added lane icon color to dbc 4f76e9b Santa Fe: this signal seems 2 bits long 01cffdc Santa Fe: for now unitless torque request 390b926 added gear to dbc for Hyundai 0a04a43 Hyundai Santa Fe: first dbc commit git-subtree-dir: opendbc git-subtree-split: af7fff8f7f154457b88fb2e0fff789889bc9af70	2018-09-03 16:41:18 -07:00
Vehicle Researcher	8f6e36f426	Merge opendbc subtree	2018-09-03 16:41:18 -07:00
Vehicle Researcher	c4bba32347	Squashed 'panda/' changes from b058c14..f2292e4 f2292e4 Hyundai: added safety check for button spam 1a8c4c4 Hyundai safety: fwd option 5398abf Hyundai safety: added tests for cruise enable/disable too a91d7ef added hyundai regression test 487fcae Safety hyundai: fixed RT check 04270b8 Safety Hyundai: bug fixes d0c28b7 Hyndai safety: tuned ad1ba69 Hyundai safety: fixed wrong param 8a1dcbe Hyundai safety: added Santa Fe safety: need to be tested. Removed some unnecessary funcitons 4e9d08a Hyundai safety: controls_allowed ==1 by default for now f42d092 Hyundai all output for now 7927cab compiling the use of bitbang_gmlan only for panda 4fe2dcd build pedal image in CI 3d67294 keep pedal obj folder git-subtree-dir: panda git-subtree-split: f2292e420bd856b8cef6633af46e2641f401e84c	2018-09-03 16:41:16 -07:00
Vehicle Researcher	f0c5ca7227	Merge panda subtree	2018-09-03 16:41:16 -07:00
tentious	8970cc8d70	Honda Odyssey 2018/2019 EX-L PID Tuning (#343 ) * Honda Odyssey 2019 EX-L PID Tuning. * Update interface.py - Increased Kp for Odyssey Increases response from 0.4, but oscillation still occurs in very sharp curves.	2018-09-02 20:06:19 -07:00
Ted Slesinski	54f3c2b373	Some code refactoring to Honda (#335 ) * Move vehicle state values (that get sent to radar) into values.py file, its a better place for it :) * idx with offset should only be applied to 0x300 * Adds new honda pilot to vehicle state msg array	2018-08-31 19:57:11 -07:00
Riccardo	2c4e1fd4fa	Added Pilot 2019 as supported car to README	2018-08-28 14:25:00 -07:00
rbiasini	401c4026ac	fixing base UI crash after completing OP guide for the first time (#337 )	2018-08-27 10:43:23 -07:00
Ted Slesinski	22f0a89cf8	Adds 2019 Pilot (#334 )	2018-08-26 22:35:11 -07:00
rbiasini	b942ab58e1	fix critical put and get param that caused sporadic controlsd hanging (#333 ) * fix critical put and get param that caused sporadic controlsd hanging * test fix	2018-08-24 19:45:33 -07:00
Jamezz	c29b311583	Volt: Don't adjust speed on resume from stopped (#325 ) * Don't adjust speed if resuming * Detab	2018-08-23 18:39:11 -07:00
rbiasini	ed72759a48	little endian mask fix (#330 )	2018-08-22 11:36:55 -07:00
Vehicle Researcher	0129a8a4ff	openpilot v0.5.2 release	2018-08-19 20:36:37 -07:00
Vehicle Researcher	6839a11685	Squashed 'opendbc/' changes from d62ebdd..2210752 2210752 Honda: forgot to generate dbc files e5aeda7 Honda-Bosch: fixed xmission speed unit b1b7e8b Adds 1.5L Accord DBC (#107) git-subtree-dir: opendbc git-subtree-split: 2210752523f699b90cbf2ab6678e261edeb2ccdc	2018-08-19 20:34:33 -07:00
Vehicle Researcher	db96b4b912	Merge opendbc subtree	2018-08-19 20:34:33 -07:00
Vehicle Researcher	c812915765	Squashed 'panda/' changes from 5570dac..b058c14 b058c14 add build step for legacy board to CI 866dd85 Fix README (#133) c2a0853 Hyundai safety: 593 also needs ot be modified 594863c Hyundai: added initial safety files which just fwd bus 0 to 2 and viceversa, except for lkas msgs 905a935 fixed pedal and legacy board builds: no float support 0a480ec moved interpolate function to safety header d7bd473 Merge pull request #131 from appleguru/master c0b1ef2 Example to get wifi password from panda over USB using python library 01c0383 Merge pull request #128 from appleguru/gmlan_gpio f9a46e3 Match safety order from master aafbe05 GMLAN GPIO Rebase 37df290 rename to gmlan_alt git-subtree-dir: panda git-subtree-split: b058c145709a93d56fbe764701962e7d97344ecf	2018-08-19 20:34:21 -07:00
Vehicle Researcher	b70d75d1d0	Merge panda subtree	2018-08-19 20:34:21 -07:00
rbiasini	6a02547b42	updated opendbc (#322 )	2018-08-16 17:02:52 -07:00
Ted Slesinski	33a75c3506	Adds 1.5L accord support (#321 ) * Adds support for 1.5L Accord * Merge opendbc subtree	2018-08-13 22:38:14 -07:00
arne182	2cfdc67610	Spelling Correction (#316 )	2018-08-03 00:17:00 -07:00
Vehicle Researcher	6f3d10a4c4	openpilot v0.5.1 release	2018-08-02 02:58:52 +00:00
Vehicle Researcher	fe9ce203ee	Squashed 'opendbc/' changes from 37416375..d62ebdd4 d62ebdd4 Toyota: added chr hybrid. Honda: regenerated fit. 29e32471 This adds support for 8 Speed Auto Tranismission (#104) ebfe5238 🚐 more chrysler pacifica signals (#84) 50235102 Honda Nidec: added wrong config radar value 563e3b5d Add 2018 Honda Fit EX F-CAN dbc (#100) git-subtree-dir: opendbc git-subtree-split: d62ebdd4b8c37297acfd77b71b6e710e8c28cbf6	2018-08-02 02:55:39 +00:00
Vehicle Researcher	589b6187a1	Merge opendbc subtree	2018-08-02 02:55:39 +00:00
Vehicle Researcher	6b1efbf185	Merge panda subtree	2018-08-02 02:55:38 +00:00
Vehicle Researcher	76494ab0be	Squashed 'panda/' changes from 5c905b75..5570dac1 5570dac1 Merge pull request #124 from AllWashedOut/patch-1 341e6d31 bumped panda version 98b71f3a Toyota safety: added support for camry and chr (#127) ba8762d5 Toyota safety: vars and consts need 'toyota_' prefix d8fc9ff4 Update tesla_tester.py 2a8c2c21 Strengthen VIN detection git-subtree-dir: panda git-subtree-split: 5570dac19e908e2980fbab6d935476e5a672299f	2018-08-02 02:55:37 +00:00
rbiasini	b63d51d3ef	Revert "Added 2014 pre-AP tesla (prior to Oct 28, 2014) (#303 )" (#307 ) This reverts commit `e07853bb5e`.	2018-07-20 15:06:57 -07:00
Jean-Claude Thibault	e07853bb5e	Added 2014 pre-AP tesla (prior to Oct 28, 2014) (#303 )	2018-07-20 15:02:01 -07:00
Mutley	866711ef2e	Update README.md (#295 ) Changed GM minimum speed for steer control	2018-07-15 22:21:52 -07:00
Joshua F. Rountree	ef8e6fb39f	Adds Pedal Interceptor Support for Honda & Acura Vehicles (#274 ) * Adds Joel's Changes to values, sorted as Rick wanted. * Adds space at end of file. * Adds Changes to Steering Ratio for Pilot testing. * Adding this to steer ratio makes it even 3.33 Not sure if this should go into this PR though or not. This makes the ratio match the other vehicles in the file. Otherwise it's 3.454545... * Changes the RAV4 back to not include pedal. * Updated Comments for Pedal Support * - Adds menuever test output to gitignore. - Slight comment update to Ridgeline * - Cleanup steer status comments - Adds steering warning for interceptor cars in low speed lockout. * Cleans up comments. * Update README.md * Corrects verbiage in README regarding Comma Pedal on Honda's * Updates Odyssey and MDX to not add extra warnings for low-speed-lockout. * Updates Comma Pedal references to use anchor links. * Minor tweak to README * Updates RDX to warn no steering below 12mph * Reverts changes to README, carstate.py, and interface.py * Removes extra libraries from a prior experiment. * Replaces README with one from current devel. Hope this fixes spacing issues. * Adds Pedal back to Honda Cars and sorts fingerprint values * Fixes spacing changes that were not intentional. * Fixed carstate no newline at end of file. * Fixes new line at end of file issue. * Converted the Long's to Int's	2018-07-13 17:15:42 -07:00
George Hotz	4568504c41	Merge pull request #290 from commaai/pedal-resum-speed-fix fixed resume press when comma pedal is used	2018-07-13 16:55:40 -07:00
Riccardo	18c6482545	fixed resume press when comma pedal is used	2018-07-13 15:52:59 -07:00
George Hotz	b0c83bb9a6	Merge pull request #288 from jfrux/patch-1 Minor README.md update.	2018-07-13 12:24:24 -07:00
Joshua F. Rountree	ce57ce4898	Update README.md	2018-07-13 13:10:37 -04:00
Joshua F. Rountree	7d9f8c55e0	Integrated the requests by Andrew	2018-07-13 12:17:42 -04:00
George Hotz	04c26981f0	fix up table	2018-07-12 23:02:20 -07:00
Joshua F. Rountree	7f6ea03066	Minor README.md update. Loving the way this adds some realism and cleans things up a bit on the image. Let's do this! xD <3 Thanks for the AMAZING and EXCITING update. Driving on it first thing in the morning. Congratulations Comma Team!	2018-07-13 01:56:01 -04:00