openpilot v0.5.6 release

Merge pyextra subtree
Squashed 'pyextra/' changes from eb09257..fb152de
2026-06-12 23:14:31 +08:00 · 2018-11-17 02:08:34 -08:00 · 2018-11-17 01:58:38 -08:00 · 2018-11-17 01:58:38 -08:00 · 2018-11-17 01:58:36 -08:00 · 2018-11-17 01:58:36 -08:00
279 changed files with 13737 additions and 2420 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -20,8 +20,6 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-lane.cpp
-loc*.cpp
 config.json
 clcache

--- 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
@@ -1,11 +1,28 @@
-[![](https://i.imgur.com/VlKV6V8.png)](#)
+[![](https://i.imgur.com/UetIFyH.jpg)](#)

 Welcome to openpilot
 ======

-[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras, Toyotas, and a Chevy. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
+[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).

-The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
+
+Table of Contents
+=======================
+
+* [Community](#community)
+* [Hardware](#hardware)
+* [Supported Cars](#supported-cars)
+* [Community Maintained Cars](#community-maintained-cars)
+* [In Progress Cars](#in-progress-cars)
+* [How can I add support for my car?](#how-can-i-add-support-for-my-car-)
+* [Directory structure](#directory-structure)
+* [User Data / chffr Account / Crash Reporting](#user-data-chffr-account-crash-reporting)
+* [Testing on PC](#testing-on-pc)
+* [Contributing](#contributing)
+* [Licensing](#licensing)
+
+---

 Community
 ------
@@ -14,7 +31,7 @@ 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).

-Also, we have a 3500+ person [community on slack](https://slack.comma.ai).
+Also, we have a several thousand people community on [slack](https://slack.comma.ai).

 <table>
  <tr>
@@ -41,71 +58,73 @@ 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<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                 | Driver Confidence II | Yes     | Yes            | 0mph             | 7mph           |
-| GM<sup>3</sup>| Volt 2018                 | Driver Confidence II | 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         | CR-V 2015                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda         | CR-V 2016                 | Honda Sensing        | 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>| 12mph          |
-| Honda         | Odyssey 2018              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| 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         | Ridgeline 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda         | Ridgeline 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| 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        | 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           |
-
+| Make                 | Model                   | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| ------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Acura                | ILX 2016-17             | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
+| Acura                | RDX 2018                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Chevrolet<sup>3</sup>| Malibu 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chevrolet<sup>3</sup>| Volt 2017-18            | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Honda                | Accord 2018             | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Civic 2016-18           | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
+| Honda                | Civic 2017-18 *(Hatch)* | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V 2015-16            | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | CR-V 2017-18            | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2017-19         | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | Pilot 2017-18           | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | Pilot 2019              | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Ridgeline 2017-18       | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Hyundai              | Santa Fe 2019           | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Hyundai              | Elantra 2017            | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Hyundai              | Genesis 2018            | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Kia                  | Sorento 2018            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Kia                  | Stinger 2018            | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
+| Lexus                | RX Hybrid 2016-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Camry 2018<sup>4</sup>  | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
+| Toyota               | C-HR 2017-18<sup>4</sup>| All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-18         | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Highlander 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander Hybrid 2018  | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius 2017-18           | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius Prime 2017-18     | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18            | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Rav4 Hybrid 2017-18     | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |

 <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>3</sup>[GM installation guide](https://zoneos.com/volt/).  
 <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>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
+<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/) <br />

 Community Maintained Cars
 ------

-| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
-| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- |
-| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Make          | Model                     | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| -------       | ----------------------    | -------------------- | ------- | ------------   | --------------   | -------------- | ------------------|
+| Honda         | Fit 2018                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Tesla         | Model S 2012              | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
+| Tesla         | Model S 2013              | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|

-[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
+[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
+[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
+<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />

-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
 ------
 - All TSS-P Toyota with Steering Assist.
  - 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
  - Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
+  - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
 - 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?
 ------
@@ -116,7 +135,7 @@ We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car

 - 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.
- The 2016-2017 Honda Accord use a custom signaling protocol for steering that's unlikely to ever be upstreamed.
+- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.

 Directory structure
 ------
@@ -151,7 +170,7 @@ To understand how the services interact, see `selfdrive/service_list.yaml`
 User Data / chffr Account / Crash Reporting
 ------

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

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

@@ -175,6 +194,7 @@ The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudina

 More extensive testing infrastructure and simulation environments are coming soon.

+
 Contributing
 ------

@@ -193,3 +213,7 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
+
+---
+
+<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,45 @@
+Version 0.5.6 (2018-11-16)
+========================
+ * Refresh settings layout and add feature descriptions
+ * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
+ * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
+ * Improve camera calibration stability
+ * More tuning to Honda positive accelerations
+ * Reduce brake pump use on Hondas
+ * Chevrolet Malibu support thanks to tylergets!
+
+Version 0.5.5 (2018-10-20)
+========================
+ * Increase allowed Honda positive accelerations
+ * Fix sporadic unexpected braking when passing semi-trucks in Toyota
+ * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
+
+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
--- 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;
@@ -68,6 +68,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preDriverUnresponsive @43;
    promptDriverUnresponsive @44;
    driverUnresponsive @45;
+    belowSteerSpeed @46;
+    calibrationProgress @47;
+    lowBattery @48;
+    invalidGiraffeHonda @49;
  }
 }

@@ -257,13 +261,13 @@ struct CarControl {
      # these are the choices from the Honda
      # map as good as you can for your car
      none @0;
-      beepSingle @1;
-      beepTriple @2;
-      beepRepeated @3;
-      chimeSingle @4;
-      chimeDouble @5;
-      chimeRepeated @6;
-      chimeContinuous @7;
+      chimeEngage @1;
+      chimeDisengage @2;
+      chimeError @3;
+      chimeWarning1 @4;
+      chimeWarning2 @5;
+      chimeWarningRepeat @6;
+      chimePrompt @7;
    }
  }
 }
@@ -284,6 +288,7 @@ struct CarParams {
  enableApgs @28 :Bool; # advanced parking guidance system

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

@@ -309,6 +314,7 @@ struct CarParams {
    cadillac @7;
    hyundai @8;
    chrysler @9;
+    tesla @10;
  }

  # things about the car in the manual
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -42,6 +42,7 @@ struct InitData {

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

  enum DeviceType {
    unknown @0;
@@ -186,6 +187,10 @@ struct SensorEventData {
    iOS @1;
    fiber @2;
    velodyne @3;  # Velodyne IMU
+    # c3 sensors below
+    bno055 @4;
+    lsm6ds3 @5;
+    bmp280 @6;
  }
 }

@@ -262,6 +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;
@@ -269,6 +276,7 @@ struct ThermalData {
  startedTs @13 :UInt64;

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

  enum ThermalStatus {
    green @0;   # all processes run
@@ -327,17 +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);
 }

@@ -398,6 +410,8 @@ struct Live100Data {
  alertStatus @38 :AlertStatus;
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
+  alertType @44 :Text;
+  alertSound @45 :Text;
  awarenessStatus @26 :Float32;
  angleOffset @27 :Float32;
  gpsPlannerActive @40 :Bool;
@@ -1546,6 +1560,18 @@ struct Boot {
  lastPmsg @2 :Data;
 }

+struct LiveParametersData {
+  valid @0 :Bool;
+  gyroBias @1 :Float32;
+  angleOffset @2 :Float32;
+}
+
+struct LiveMapData {
+  valid @0 :Bool;
+  speedLimit @1 :Float32;
+}
+
+
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
@@ -1611,5 +1637,7 @@ struct Event {
    orbFeaturesSummary @58 :OrbFeaturesSummary;
    driverMonitoring @59 :DriverMonitoring;
    boot @60 :Boot;
+    liveParameters @61 :LiveParametersData;
+    liveMapData @62 :LiveMapData;
  }
 }
--- 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, cflags="", libraries=[]):
+  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, cflags, libraries)
+      mod = __import__(cache)
+  finally:
+    os.close(fd)
+
+  return mod.ffi, mod.lib
+
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
+  ffibuilder = FFI()
+  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
+  ffibuilder.cdef(c_header)
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['CFLAGS'] = 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/model.py
+++ b/common/transformations/model.py
@@ -0,0 +1,112 @@
+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],
+  ]))
+
+  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
+  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
+
+  return high_camera_from_low_camera
+
+
+# camera_frame_from_model_frame aka 'warp matrix'
+# was: calibration.h/CalibrationTransform
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
+  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
@@ -293,7 +293,7 @@ CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
 CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
--- 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
@@ -288,6 +288,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
 VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
 VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/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/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

@@ -259,3 +259,5 @@ BO_ 891 STALK_STATUS_2: 8 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
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
--- 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/acura_ilx_2016_can.dbc
+++ b/opendbc/generator/honda/acura_ilx_2016_can.dbc
@@ -64,7 +64,7 @@ CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
 CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
--- a/opendbc/generator/honda/acura_rdx_2018_can.dbc
+++ b/opendbc/generator/honda/acura_rdx_2018_can.dbc
@@ -59,6 +59,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
 VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
 VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_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
@@ -126,10 +126,10 @@ 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" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
--- a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc
+++ b/opendbc/generator/honda/honda_crv_touring_2016_can.dbc
@@ -64,7 +64,7 @@ BO_ 891 WIPERS: 8 XXX

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 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" ;
--- a/opendbc/generator/honda/honda_fit_ex_2018_can.dbc
+++ b/opendbc/generator/honda/honda_fit_ex_2018_can.dbc
@@ -87,7 +87,7 @@ BO_ 884 STALK_STATUS: 8 XXX
 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_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 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" ;
--- a/opendbc/generator/honda/honda_odyssey_exl_2018.dbc
+++ b/opendbc/generator/honda/honda_odyssey_exl_2018.dbc
@@ -100,7 +100,7 @@ CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -110,7 +110,5 @@ VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
+++ b/opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
@@ -58,7 +58,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
--- a/opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
+++ b/opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
@@ -53,7 +53,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
--- 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_2017.dbc
+++ b/opendbc/generator/toyota/_toyota_2017.dbc
@@ -40,6 +40,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -57,11 +62,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -102,23 +114,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -149,6 +148,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -160,32 +162,95 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
--- a/opendbc/generator/toyota/lexus_is_2018_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_2018_pt.dbc
@@ -0,0 +1,39 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_3: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- 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_object.dbc
+++ b/opendbc/gm_global_a_object.dbc
@@ -67,8 +67,37 @@ BO_ 776 ASCMAccSpeedStatus: 7 NEO
 SG_ VehicleSpeed : 15|12@0+ (1,0) [0|0] ""  B233B_LRR
 SG_ AlwaysOne : 3|1@0+ (1,0) [0|0] ""  B233B_LRR

-BO_ 1120 LRRNumObjects: 8 B233B_LRR
- SG_ LRRNumObjects : 20|5@0+ (1,0) [0|0] ""  NEO
+BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO
+ SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] ""  EOCM_F_FO
+ SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
+ SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
+ SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] ""  EOCM_F_FO

 BO_ 1134 LRRObject14: 8 B233B_LRR
 SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO
--- a/opendbc/gm_global_a_powertrain.dbc
+++ b/opendbc/gm_global_a_powertrain.dbc
@@ -35,13 +35,18 @@ BS_:

 BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB
 VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
+VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ;
+VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
 VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
 VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
 VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
@@ -81,9 +86,13 @@ BO_ 298 BCMDoorBeltStatus: 8 K9_BCM

 BO_ 309 ECMPRDNL: 8 K20_ECM
 SG_ PRNDL : 2|3@0+ (1,0) [0|0] ""  NEO
+ SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX

 BO_ 320 BCMTurnSignals: 3 K9_BCM
 SG_ TurnSignals : 19|2@0+ (1,0) [0|0] ""  NEO
+ SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX

 BO_ 328 PSCM_148: 1 K43_PSCM

@@ -118,6 +127,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
 SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
 SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
+ SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX

 BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
 SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg"  NEO
@@ -180,7 +190,7 @@ 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
@@ -224,8 +234,10 @@ BA_ "UseGMParameterIDs" 0;
 VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
 VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
+VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
 VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
+VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
@@ -237,4 +249,7 @@ VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Ina
 VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
 VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
 VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
+VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
+VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;

--- a/opendbc/honda_accord_lx15t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_lx15t_2018_can_generated.dbc
@@ -0,0 +1,320 @@
+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
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+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

@@ -264,6 +264,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 CM_ "honda_accord_s2t_2018_can.dbc starts here"


--- 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

@@ -264,6 +264,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"


--- 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
@@ -355,10 +355,10 @@ 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" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
--- 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

@@ -264,6 +264,7 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON

+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 CM_ "honda_crv_ex_2017_can.dbc starts here"


--- 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
@@ -293,7 +293,7 @@ BO_ 891 WIPERS: 8 XXX

 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 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" ;
--- a/opendbc/honda_fit_ex_2018_can_generated.dbc
+++ b/opendbc/honda_fit_ex_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
@@ -316,7 +316,7 @@ BO_ 884 STALK_STATUS: 8 XXX
 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_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 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" ;
--- 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
@@ -329,7 +329,7 @@ CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
 CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
 VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -339,7 +339,5 @@ VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
 VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;

 CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
--- a/opendbc/honda_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
@@ -287,7 +287,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
--- 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
@@ -282,7 +282,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
 VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
--- 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/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -0,0 +1,298 @@
+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_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ 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
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+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";
+CM_ SG_ 1161 SPDVAL1 "is the displayed speed 10,30,50,60,70,80,90,100,120 and 255 is for no limit. SPDVAL2 is the secondary speed usually written smaller";
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_2018_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_3: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
--- 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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- 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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- 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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- 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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- a/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_chr_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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- 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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- 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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -0,0 +1,323 @@
+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_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ 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_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 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_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ 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_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+
+
+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_2010_pt.dbc
+++ b/opendbc/toyota_prius_2010_pt.dbc
@@ -0,0 +1,203 @@
+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_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|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+ (0.0062,-67.67) [0|250] "mph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.0062,-67.67) [0|250] "mph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.0062,0) [0|115] "mph" XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+
+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_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|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_ 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_ 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: 8 XXX
+ SG_ BRAKE_LIGHTS : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 XXX
+
+BO_ 740 STEERING_LKA: 8 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 39|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
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+
+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_ 452 POWERTRAIN: 8 XXX
+ SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+
+
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+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_ 560 BRAKE_LIGHTS "double check";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+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 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+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, nut it's always 1 in drive traces";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B" ;
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
+VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled" ;
+VAL_ 610 LKA_STATE 50 "temporary_fault" ;
+VAL_ 614 STATE 3 "enabled" 1 "disabled" ;
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left" ;
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted" ;
+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_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none" ;
+VAL_ 1553 UNITS 1 "km" 2 "miles" ;
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
--- a/opendbc/toyota_prius_2017_adas.dbc
+++ b/opendbc/toyota_prius_2017_adas.dbc
@@ -182,80 +182,95 @@ BO_ 543 TRACK_A_15: 8 XXX
 BO_ 544 TRACK_B_0: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 545 TRACK_B_1: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 546 TRACK_B_2: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 547 TRACK_B_3: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 548 TRACK_B_4: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 549 TRACK_B_5: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 550 TRACK_B_6: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 551 TRACK_B_7: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 552 TRACK_B_8: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 553 TRACK_B_9: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 554 TRACK_B_10: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 555 TRACK_B_11: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 556 TRACK_B_12: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 557 TRACK_B_13: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 558 TRACK_B_14: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX

 BO_ 559 TRACK_B_15: 6 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
 SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
-
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- 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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- 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 ""
@@ -58,6 +72,11 @@ BO_ 36 KINEMATICS: 8 XXX
 SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ 
 BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@@ -75,11 +94,18 @@ BO_ 180 SPEED: 8 XXX

 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
 SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
 SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
 SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -120,23 +146,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
 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_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
 SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX

 BO_ 951 ESP_CONTROL: 8 ESP
@@ -167,6 +180,9 @@ BO_ 1042 LKAS_HUD: 8 XXX

 BO_ 1553 UI_SEETING: 8 XXX
 SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ 
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX

 BO_ 1568 SEATS_DOORS: 8 XXX
 SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
@@ -178,33 +194,96 @@ BO_ 1568 SEATS_DOORS: 8 XXX
 BO_ 1570 LIGHT_STALK: 8 SCM
 SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX

+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ 
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
 CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
 CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
-CM_ SG_ 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_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
 CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
-VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
-VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 1553 UNITS 1 "km" 2 "miles";
-VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "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";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional" 0 "none";
+

 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

--- 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 @@
-v1.1.3
+v1.1.7
--- 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);
@@ -45,10 +56,13 @@ int controls_allowed = 0;
 #include "safety/safety_toyota.h"
 #ifdef PANDA
 #include "safety/safety_toyota_ipas.h"
+#include "safety/safety_tesla.h"
 #endif
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
+#include "safety/safety_hyundai.h"
+#include "safety/safety_chrysler.h"
 #include "safety/safety_elm327.h"

 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -87,6 +101,9 @@ typedef struct {
 #define SAFETY_HONDA_BOSCH 4
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
+#define SAFETY_HYUNDAI 7
+#define SAFETY_TESLA 8
+#define SAFETY_CHRYSLER 9
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -100,9 +117,12 @@ const safety_hook_config safety_hook_registry[] = {
  {SAFETY_GM, &gm_hooks},
  {SAFETY_FORD, &ford_hooks},
  {SAFETY_CADILLAC, &cadillac_hooks},
+  {SAFETY_HYUNDAI, &hyundai_hooks},
+  {SAFETY_CHRYSLER, &chrysler_hooks},
  {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
  {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
+  {SAFETY_TESLA, &tesla_hooks},
 #endif
  {SAFETY_ALLOUTPUT, &alloutput_hooks},
  {SAFETY_ELM327, &elm327_hooks},
@@ -201,3 +221,31 @@ 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_chrysler.h
+++ b/panda/board/safety/safety_chrysler.h
@@ -0,0 +1,136 @@
+// board enforces
+//   in-state
+//      ACC is active (green)
+//   out-state
+//      brake pressed
+//      stock LKAS ECU is online
+//      ACC is not active (white or disabled)
+
+// chrysler_: namespacing
+int chrysler_speed = 0;
+
+// silence everything if stock ECUs are still online
+int chrysler_lkas_detected = 0;
+int chrysler_desired_torque_last = 0;
+
+static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+  int bus_number = (to_push->RDTR >> 4) & 0xFF;
+  uint32_t addr;
+  if (to_push->RIR & 4) {
+    // Extended
+    // Not looked at, but have to be separated
+    // to avoid address collision
+    addr = to_push->RIR >> 3;
+  } else {
+    // Normal
+    addr = to_push->RIR >> 21;
+  }
+
+  if (addr == 0x144 && bus_number == 0) {
+    chrysler_speed = ((to_push->RDLR & 0xFF000000) >> 16) | (to_push->RDHR & 0xFF);
+  }
+
+  // check if stock LKAS ECU is still online
+  if (addr == 0x292 && bus_number == 0) {
+    chrysler_lkas_detected = 1;
+    controls_allowed = 0;
+  }
+
+  // ["ACC_2"]['ACC_STATUS_2'] == 7 for active (green) Adaptive Cruise Control
+  if (addr == 0x1f4 && bus_number == 0) {
+    if (((to_push->RDLR & 0x380000) >> 19) == 7) {
+      controls_allowed = 1;
+    } else {
+      controls_allowed = 0;
+    }
+  }
+
+  // exit controls on brake press by human
+  if (addr == 0x140) {
+    if (to_push->RDLR & 0x4) {
+      controls_allowed = 0;
+    }
+  }
+}
+
+// if controls_allowed
+//     allow steering up to limit
+// else
+//     block all commands that produce actuation
+static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  // There can be only one! (LKAS)
+  if (chrysler_lkas_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: Too large of values cause the steering actuator ECU to silently
+  // fault and no longer actuate the wheel until the car is rebooted.
+  if (addr == 0x292) {
+    int rdlr = to_send->RDLR;
+    int straight = 1024;
+    int steer = ((rdlr & 0x7) << 8) + ((rdlr & 0xFF00) >> 8) - straight;
+    int max_steer = 230;
+    int max_rate = 50; // ECU is fine with 100, but 3 is typical.
+    if (steer > max_steer) {
+      return false;
+    }
+    if (steer < -max_steer) {
+      return false;
+    }
+    if (!controls_allowed && steer != 0) {
+      // If controls not allowed, only allow steering to move closer to 0.
+      if (chrysler_desired_torque_last == 0) {
+	return false;
+      }
+      if ((chrysler_desired_torque_last > 0) && (steer >= chrysler_desired_torque_last)) {
+	return false;
+      }
+      if ((chrysler_desired_torque_last < 0) && (steer <= chrysler_desired_torque_last)) {
+	return false;
+      }
+    }
+    if (steer < (chrysler_desired_torque_last - max_rate)) {
+      return false;
+    }
+    if (steer > (chrysler_desired_torque_last + max_rate)) {
+      return false;
+    }
+    
+    chrysler_desired_torque_last = steer;
+  }
+
+  // 1 allows the message through
+  return true;
+}
+
+static int chrysler_tx_lin_hook(int lin_num, uint8_t *data, int len) {
+  // LIN is not used.
+  return false;
+}
+
+static void chrysler_init(int16_t param) {
+  controls_allowed = 0;
+}
+
+static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  return -1;
+}
+
+const safety_hooks chrysler_hooks = {
+  .init = chrysler_init,
+  .rx = chrysler_rx_hook,
+  .tx = chrysler_tx_hook,
+  .tx_lin = chrysler_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = chrysler_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
@@ -132,30 +132,12 @@ 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,
-  .ignition = default_ign_hook,
-  .fwd = honda_fwd_hook,
-};
-
 static void honda_bosch_init(int16_t param) {
  controls_allowed = 0;
  bosch_hardware = true;
@@ -163,6 +145,22 @@ static void honda_bosch_init(int16_t param) {
  honda_alt_brake_msg = param == 1 ? true : false;
 }

+static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  // fwd from car to camera. also fwd certain msgs from camera to car
+  // 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
+  // 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
+  // 0x39f is radar hud
+  int addr = to_fwd->RIR>>21;
+  if (bus_num == 0) {
+    return 2;
+  } else if (bus_num == 2 && addr != 0xE4 && addr != 0x194 && addr != 0x1FA &&
+             addr != 0x30C && addr != 0x33D && addr != 0x39F) {
+    return 0;
+  }
+
+  return -1;
+}
+
 static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  if (bus_num == 1 || bus_num == 2) {
    int addr = to_fwd->RIR>>21;
@@ -171,11 +169,20 @@ static int honda_bosch_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 = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = honda_fwd_hook,
+};
+
 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_tesla.h
+++ b/panda/board/safety/safety_tesla.h
@@ -0,0 +1,287 @@
+// board enforces
+//   in-state
+//      accel set/resume
+//   out-state
+//      cancel button
+//      regen paddle
+//      accel rising edge
+//      brake rising edge
+//      brake > 0mph
+//
+int fmax_limit_check(float val, const float MAX, const float MIN) {
+  return (val > MAX) || (val < MIN);
+}
+
+// 2m/s are added to be less restrictive
+const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_UP = {
+    {2., 7., 17.},
+    {5., .8, .25}};
+
+const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_DOWN = {
+    {2., 7., 17.},
+    {5., 3.5, .8}};
+
+const struct lookup_t TESLA_LOOKUP_MAX_ANGLE = {
+    {2., 29., 38.},
+    {410., 92., 36.}};
+
+const int TESLA_RT_INTERVAL = 250000; // 250ms between real time checks
+
+// state of angle limits
+float tesla_desired_angle_last = 0; // last desired steer angle
+float tesla_rt_angle_last = 0.; // last real time angle
+float tesla_ts_angle_last = 0;
+
+int tesla_controls_allowed_last = 0;
+
+int tesla_brake_prev = 0;
+int tesla_gas_prev = 0;
+int tesla_speed = 0;
+int eac_status = 0;
+
+int tesla_ignition_started = 0;
+
+
+void set_gmlan_digital_output(int to_set);
+void reset_gmlan_switch_timeout(void);
+void gmlan_switch_init(int timeout_enable);
+
+
+static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push)
+{
+  set_gmlan_digital_output(0); // #define GMLAN_HIGH 0
+  reset_gmlan_switch_timeout(); //we're still in tesla safety mode, reset the timeout counter and make sure our output is enabled
+
+  //int bus_number = (to_push->RDTR >> 4) & 0xFF;
+  uint32_t addr;
+  if (to_push->RIR & 4)
+  {
+    // Extended
+    // Not looked at, but have to be separated
+    // to avoid address collision
+    addr = to_push->RIR >> 3;
+  }
+  else
+  {
+    // Normal
+    addr = to_push->RIR >> 21;
+  }
+
+  if (addr == 0x45)
+  {
+    // 6 bits starting at position 0
+    int lever_position = (to_push->RDLR & 0x3F);
+    if (lever_position == 2)
+    { // pull forward
+      // activate openpilot
+      controls_allowed = 1;
+      //}
+    }
+    else if (lever_position == 1)
+    { // push towards the back
+      // deactivate openpilot
+      controls_allowed = 0;
+    }
+  }
+
+  // Detect drive rail on (ignition) (start recording)
+  if (addr == 0x348)
+  {
+    // GTW_status
+    int drive_rail_on = (to_push->RDLR & 0x0001);
+    tesla_ignition_started = drive_rail_on == 1;
+  }
+
+  // exit controls on brake press
+  // DI_torque2::DI_brakePedal 0x118
+  if (addr == 0x118)
+  {
+    // 1 bit at position 16
+    if (((to_push->RDLR & 0x8000)) >> 15 == 1)
+    {
+      //disable break cancel by commenting line below
+      controls_allowed = 0;
+    }
+    //get vehicle speed in m/s. Tesla gives MPH
+    tesla_speed = ((((((to_push->RDLR >> 24) & 0x0F) << 8) + ((to_push->RDLR >> 16) & 0xFF)) * 0.05 - 25) * 1.609 / 3.6);
+    if (tesla_speed < 0)
+    {
+      tesla_speed = 0;
+    }
+  }
+
+  // exit controls on EPAS error
+  // EPAS_sysStatus::EPAS_eacStatus 0x370
+  if (addr == 0x370)
+  {
+    // if EPAS_eacStatus is not 1 or 2, disable control
+    eac_status = ((to_push->RDHR >> 21)) & 0x7;
+    // For human steering override we must not disable controls when eac_status == 0
+    // Additional safety: we could only allow eac_status == 0 when we have human steering allowed
+    if ((controls_allowed == 1) && (eac_status != 0) && (eac_status != 1) && (eac_status != 2))
+    {
+      controls_allowed = 0;
+      //puts("EPAS error! \n");
+    }
+  }
+  //get latest steering wheel angle
+  if (addr == 0x00E)
+  {
+    float angle_meas_now = (int)((((to_push->RDLR & 0x3F) << 8) + ((to_push->RDLR >> 8) & 0xFF)) * 0.1 - 819.2);
+    uint32_t ts = TIM2->CNT;
+    uint32_t ts_elapsed = get_ts_elapsed(ts, tesla_ts_angle_last);
+
+    // *** angle real time check
+    // add 1 to not false trigger the violation and multiply by 25 since the check is done every 250 ms and steer angle is updated at     100Hz
+    float rt_delta_angle_up = interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) * 25. + 1.;
+    float rt_delta_angle_down = interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) * 25. + 1.;
+    float highest_rt_angle = tesla_rt_angle_last + (tesla_rt_angle_last > 0 ? rt_delta_angle_up : rt_delta_angle_down);
+    float lowest_rt_angle = tesla_rt_angle_last - (tesla_rt_angle_last > 0 ? rt_delta_angle_down : rt_delta_angle_up);
+
+    if ((ts_elapsed > TESLA_RT_INTERVAL) || (controls_allowed && !tesla_controls_allowed_last))
+    {
+      tesla_rt_angle_last = angle_meas_now;
+      tesla_ts_angle_last = ts;
+    }
+
+    // check for violation;
+    if (fmax_limit_check(angle_meas_now, highest_rt_angle, lowest_rt_angle))
+    {
+      // We should not be able to STEER under these conditions
+      // Other sending is fine (to allow human override)
+      controls_allowed = 0;
+      //puts("WARN: RT Angle - No steer allowed! \n");
+    }
+    else
+    {
+      controls_allowed = 1;
+    }
+
+    tesla_controls_allowed_last = controls_allowed;
+  }
+}
+
+// all commands: gas/regen, friction brake and steering
+// if controls_allowed and no pedals pressed
+//     allow all commands up to limit
+// else
+//     block all commands that produce actuation
+
+static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send)
+{
+
+  uint32_t addr;
+  float angle_raw;
+  float desired_angle;
+
+  addr = to_send->RIR >> 21;
+
+  // do not transmit CAN message if steering angle too high
+  // DAS_steeringControl::DAS_steeringAngleRequest
+  if (addr == 0x488)
+  {
+    angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
+    desired_angle = angle_raw * 0.1 - 1638.35;
+    int16_t violation = 0;
+    int st_enabled = (to_send->RDLR & 0x400000) >> 22;
+
+    if (st_enabled == 0) {
+      //steering is not enabled, do not check angles and do send
+      tesla_desired_angle_last = desired_angle;
+      return true;
+    }
+
+    if (controls_allowed)
+    {
+      // add 1 to not false trigger the violation
+      float delta_angle_up = interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) + 1.;
+      float delta_angle_down = interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) + 1.;
+      float highest_desired_angle = tesla_desired_angle_last + (tesla_desired_angle_last > 0 ? delta_angle_up : delta_angle_down);
+      float lowest_desired_angle = tesla_desired_angle_last - (tesla_desired_angle_last > 0 ? delta_angle_down : delta_angle_up);
+      float TESLA_MAX_ANGLE = interpolate(TESLA_LOOKUP_MAX_ANGLE, tesla_speed) + 1.;
+
+      //check for max angles
+      violation |= fmax_limit_check(desired_angle, TESLA_MAX_ANGLE, -TESLA_MAX_ANGLE);
+
+      //check for angle delta changes
+      violation |= fmax_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
+
+      if (violation)
+      {
+        controls_allowed = 0;
+        return false;
+      }
+      tesla_desired_angle_last = desired_angle;
+      return true;
+    }
+    return false;
+  }
+  return true;
+}
+
+static int tesla_tx_lin_hook(int lin_num, uint8_t *data, int len)
+{
+  // LIN is not used on the Tesla
+  return false;
+}
+
+static void tesla_init(int16_t param)
+{
+  controls_allowed = 0;
+  tesla_ignition_started = 0;
+  gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
+}
+
+static int tesla_ign_hook()
+{
+  return tesla_ignition_started;
+}
+
+static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd)
+{
+
+  int32_t addr = to_fwd->RIR >> 21;
+
+  if (bus_num == 0)
+  {
+
+    // change inhibit of GTW_epasControl
+    if (addr == 0x101)
+    {
+      to_fwd->RDLR = to_fwd->RDLR | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
+      int checksum = (((to_fwd->RDLR & 0xFF00) >> 8) + (to_fwd->RDLR & 0xFF) + 2) & 0xFF;
+      to_fwd->RDLR = to_fwd->RDLR & 0xFFFF;
+      to_fwd->RDLR = to_fwd->RDLR + (checksum << 16);
+      return 2;
+    }
+
+    // remove EPB_epasControl
+    if (addr == 0x214)
+    {
+      return false;
+    }
+
+    return 2; // Custom EPAS bus
+  }
+  if (bus_num == 2)
+  {
+
+    // remove GTW_epasControl in forwards
+    if (addr == 0x101)
+    {
+      return false;
+    }
+
+    return 0; // Chassis CAN
+  }
+  return false;
+}
+
+const safety_hooks tesla_hooks = {
+    .init = tesla_init,
+    .rx = tesla_rx_hook,
+    .tx = tesla_tx_hook,
+    .tx_lin = tesla_tx_lin_hook,
+    .ignition = tesla_ign_hook,
+    .fwd = tesla_fwd_hook,
+};
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -1,5 +1,5 @@
-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?
+int toyota_camera_forwarded = 0;          // should we forward the camera bus?

 // global torque limit
 const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
@@ -49,8 +49,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  // 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;
+    // 5th bit is CRUISE_ACTIVE
+    int cruise_engaged = to_push->RDLR & 0x20;
    if (cruise_engaged && !toyota_cruise_engaged_last) {
      controls_allowed = 1;
    } else if (!cruise_engaged) {
@@ -60,16 +60,15 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  }

  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;
+  // msgs are only on bus 2 if panda is connected to frc
+  if (bus == 2) {
+    toyota_camera_forwarded = 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) {
@@ -107,7 +106,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
        violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);

        // *** torque rate limit check ***
-        violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last, 
+        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
@@ -123,7 +122,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
          toyota_ts_last = ts;
        }
      }
-      
+
      // no torque if controls is not allowed
      if (!controls_allowed && (desired_torque != 0)) {
        violation = 1;
@@ -146,22 +145,19 @@ 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;
  toyota_actuation_limits = 1;
  toyota_giraffe_switch_1 = 0;
+  toyota_camera_forwarded = 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) {
+  // forward cam to radar and viceversa if car, except lkas cmd and hud
+  // don't forward when switch 1 is high
+  if ((bus_num == 0 || bus_num == 2) && toyota_camera_forwarded && !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);
@@ -173,7 +169,7 @@ 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,
 };
@@ -182,6 +178,7 @@ static void toyota_nolimits_init(int16_t param) {
  controls_allowed = 0;
  toyota_actuation_limits = 0;
  toyota_giraffe_switch_1 = 0;
+  toyota_camera_forwarded = 0;
  toyota_dbc_eps_torque_factor = param;
 }

@@ -189,7 +186,7 @@ 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
@@ -4,11 +4,6 @@
 // IPAS override
 const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200;  // disallow controls when user torque exceeds this value

-struct lookup_t {
-  float x[3];
-  float y[3];
-};
-
 // 2m/s are added to be less restrictive
 const struct lookup_t LOOKUP_ANGLE_RATE_UP = {
  {2., 7., 17.},
@@ -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
@@ -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/python/init.py
+++ b/panda/python/init.py
@@ -105,7 +105,14 @@ class Panda(object):
  SAFETY_NOOUTPUT = 0
  SAFETY_HONDA = 1
  SAFETY_TOYOTA = 2
+  SAFETY_GM = 3
  SAFETY_HONDA_BOSCH = 4
+  SAFETY_FORD = 5
+  SAFETY_CADILLAC = 6
+  SAFETY_HYUNDAI = 7
+  SAFETY_TESLA = 8
+  SAFETY_CHRYSLER = 9
+  SAFETY_TOYOTA_IPAS = 0x1335
  SAFETY_TOYOTA_NOLIMITS = 0x1336
  SAFETY_ALLOUTPUT = 0x1337
  SAFETY_ELM327 = 0xE327
--- a/panda/tests/safety/libpandasafety_py.py
+++ b/panda/tests/safety/libpandasafety_py.py
@@ -41,6 +41,7 @@ void set_timer(int t);
 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_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);
@@ -70,9 +71,22 @@ 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);

+void init_tests_chrysler(void);
+void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
+int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
+void chrysler_init(int16_t param);
+void set_chrysler_desired_torque_last(int t);
+
 """)

 libpandasafety = ffi.dlopen(libpandasafety_fn)
--- a/panda/tests/safety/test.c
+++ b/panda/tests/safety/test.c
@@ -25,6 +25,7 @@ typedef struct
 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;
@@ -75,6 +76,11 @@ void set_gm_torque_driver(int min, int max){
  gm_torque_driver.max = max;
 }

+void set_hyundai_torque_driver(int min, int max){
+  hyundai_torque_driver.min = min;
+  hyundai_torque_driver.max = max;
+}
+
 int get_toyota_torque_meas_min(void){
  return toyota_torque_meas.min;
 }
@@ -95,6 +101,10 @@ void set_gm_rt_torque_last(int t){
  gm_rt_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;
 }
@@ -107,6 +117,13 @@ 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;
+}
+
+void set_chrysler_desired_torque_last(int t){
+  chrysler_desired_torque_last = t;
+}

 int get_ego_speed(void){
  return ego_speed;
@@ -155,9 +172,32 @@ 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;
  brake_prev = 0;
  gas_prev = 0;
 }
+
+void init_tests_chrysler(void){
+  chrysler_desired_torque_last = 0;
+  set_timer(0);
+}
+
+void set_gmlan_digital_output(int to_set){
+}
+
+void reset_gmlan_switch_timeout(void){
+}
+
+void gmlan_switch_init(int timeout_enable){
+}
--- a/panda/tests/safety/test_chrysler.py
+++ b/panda/tests/safety/test_chrysler.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python2
+import unittest
+import numpy as np
+import libpandasafety_py
+
+
+class TestChryslerSafety(unittest.TestCase):
+  @classmethod
+  def setUp(cls):
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.chrysler_init(0)
+    cls.safety.init_tests_chrysler()
+
+  def _acc_msg(self, active):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x1f4 << 21
+    to_send[0].RDLR = 0xfe3fff1f if active else 0xfe0fff1f
+    return to_send
+    
+
+  def _brake_msg(self, brake):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x140 << 21
+    to_send[0].RDLR = 0x485 if brake else 0x480
+    return to_send
+
+  def _steer_msg(self, angle):
+    to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
+    to_send[0].RIR = 0x292 << 21
+    c_angle = (1024 + angle)
+    to_send[0].RDLR = 0x10 | ((c_angle & 0xf00) >> 8) | ((c_angle & 0xff) << 8)
+    return to_send
+
+  def test_default_controls_not_allowed(self):
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_acc_enables_controls(self):
+    self.safety.set_controls_allowed(0)
+    self.safety.chrysler_rx_hook(self._acc_msg(0))
+    self.assertFalse(self.safety.get_controls_allowed())
+    self.safety.chrysler_rx_hook(self._acc_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.chrysler_rx_hook(self._acc_msg(0))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_disengage_on_brake(self):
+    self.safety.set_controls_allowed(1)
+    self.safety.chrysler_rx_hook(self._brake_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.chrysler_rx_hook(self._brake_msg(1))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_steer_calculation(self):
+    self.assertEqual(0x14, self._steer_msg(0)[0].RDLR)  # straight, no steering
+
+  def test_steer_tx(self):
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
+    self.safety.set_chrysler_desired_torque_last(227)
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(230)))
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(231)))
+    self.safety.set_chrysler_desired_torque_last(-227)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(-231)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(-230)))
+    # verify max change
+    self.safety.set_chrysler_desired_torque_last(0)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(230)))
+    
+    self.safety.set_controls_allowed(0)
+    self.safety.set_chrysler_desired_torque_last(0)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(3)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
+    # verify when controls not allowed we can still go back towards 0
+    self.safety.set_chrysler_desired_torque_last(10)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(10)))
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(11)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(7)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(4)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
+    self.safety.set_chrysler_desired_torque_last(-10)
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(-10)))
+    self.assertFalse(self.safety.chrysler_tx_hook(self._steer_msg(-11)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(-7)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(-4)))
+    self.assertTrue(self.safety.chrysler_tx_hook(self._steer_msg(0)))
+
+if __name__ == "__main__":
+  unittest.main()
--- 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
@@ -129,7 +129,7 @@ class TestToyotaSafety(unittest.TestCase):
  def test_enable_control_allowed_from_cruise(self):
    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
    to_push[0].RIR = 0x1D2 << 21
-    to_push[0].RDHR = 0xF00000
+    to_push[0].RDLR = 0x20

    self.safety.toyota_rx_hook(to_push)
    self.assertTrue(self.safety.get_controls_allowed())
@@ -137,7 +137,7 @@ class TestToyotaSafety(unittest.TestCase):
  def test_disable_control_allowed_from_cruise(self):
    to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
    to_push[0].RIR = 0x1D2 << 21
-    to_push[0].RDHR = 0
+    to_push[0].RDLR = 0

    self.safety.set_controls_allowed(1)
    self.safety.toyota_rx_hook(to_push)
@@ -373,7 +373,7 @@ class TestToyotaSafety(unittest.TestCase):
        self.assertTrue(self.safety.get_controls_allowed())

        # now inject too high rates
-        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) * 
+        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a + sign(a) *
                                                                                  (max_delta_up + 1), 1)))
        self.assertFalse(self.safety.get_controls_allowed())
        self.safety.set_controls_allowed(1)
@@ -381,7 +381,7 @@ class TestToyotaSafety(unittest.TestCase):
        self.assertTrue(self.safety.get_controls_allowed())
        self.assertEqual(True, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a, 1)))
        self.assertTrue(self.safety.get_controls_allowed())
-        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a - sign(a) * 
+        self.assertEqual(False, self.safety.toyota_ipas_tx_hook(self._ipas_control_msg(a - sign(a) *
                                                                                  (max_delta_down + 1), 1)))
        self.assertFalse(self.safety.get_controls_allowed())

--- a/pyextra/overpy-0.4-py2.7.egg-info/PKG-INFO
+++ b/pyextra/overpy-0.4-py2.7.egg-info/PKG-INFO
@@ -0,0 +1,123 @@
+Metadata-Version: 1.1
+Name: overpy
+Version: 0.4
+Summary: Python Wrapper to access the OpenStreepMap Overpass API
+Home-page: https://github.com/DinoTools/python-overpy
+Author: PhiBo (DinoTools)
+Author-email: UNKNOWN
+License: MIT
+Description: Python Overpass Wrapper
+        =======================
+        
+        A Python Wrapper to access the Overpass API.
+        
+        Have a look at the `documentation`_ to find additional information.
+        
+        .. image:: https://pypip.in/version/overpy/badge.svg
+            :target: https://pypi.python.org/pypi/overpy/
+            :alt: Latest Version
+        
+        .. image:: https://pypip.in/license/overpy/badge.svg
+            :target: https://pypi.python.org/pypi/overpy/
+            :alt: License
+        
+        .. image:: https://travis-ci.org/DinoTools/python-overpy.svg?branch=master
+            :target: https://travis-ci.org/DinoTools/python-overpy
+        
+        .. image:: https://coveralls.io/repos/DinoTools/python-overpy/badge.png?branch=master
+            :target: https://coveralls.io/r/DinoTools/python-overpy?branch=master
+        
+        Features
+        --------
+        
+        * Query Overpass API
+        * Parse JSON and XML response data
+        * Additional helper functions
+        
+        Install
+        -------
+        
+        **Requirements:**
+        
+        Supported Python versions:
+        
+        * Python 2.7
+        * Python >= 3.2
+        * PyPy and PyPy3
+        
+        **Install:**
+        
+        .. code-block:: console
+        
+            $ pip install overpy
+        
+        Examples
+        --------
+        
+        Additional examples can be found in the `documentation`_ and in the *examples* directory.
+        
+        .. code-block:: python
+        
+            import overpy
+        
+            api = overpy.Overpass()
+        
+            # fetch all ways and nodes
+            result = api.query("""
+                way(50.746,7.154,50.748,7.157) ["highway"];
+                (._;>;);
+                out body;
+                """)
+        
+            for way in result.ways:
+                print("Name: %s" % way.tags.get("name", "n/a"))
+                print("  Highway: %s" % way.tags.get("highway", "n/a"))
+                print("  Nodes:")
+                for node in way.nodes:
+                    print("    Lat: %f, Lon: %f" % (node.lat, node.lon))
+        
+        
+        Helper
+        ~~~~~~
+        
+        Helper methods are available to provide easy access to often used requests.
+        
+        .. code-block:: python
+        
+            import overpy.helper
+        
+            # 3600062594 is the OSM id of Chemnitz and is the bounding box for the request
+            street = overpy.helper.get_street(
+                "Straße der Nationen",
+                "3600062594"
+            )
+        
+            # this finds an intersection between Straße der Nationen and Carolastraße in Chemnitz
+            intersection = overpy.helper.get_intersection(
+                "Straße der Nationen",
+                "Carolastraße",
+                "3600062594"
+            )
+        
+        
+        License
+        -------
+        
+        Published under the MIT (see LICENSE for more information)
+        
+        .. _`documentation`: http://python-overpy.readthedocs.org/
+        
+Keywords: OverPy Overpass OSM OpenStreetMap
+Platform: UNKNOWN
+Classifier: Development Status :: 4 - Beta
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 2.7
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.2
+Classifier: Programming Language :: Python :: 3.3
+Classifier: Programming Language :: Python :: 3.4
+Classifier: Programming Language :: Python :: 3.5
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Programming Language :: Python :: Implementation :: PyPy
--- a/pyextra/overpy-0.4-py2.7.egg-info/SOURCES.txt
+++ b/pyextra/overpy-0.4-py2.7.egg-info/SOURCES.txt
@@ -0,0 +1,61 @@
+CHANGELOG.rst
+LICENSE
+MANIFEST.in
+README.rst
+setup.cfg
+setup.py
+docs/make.bat
+docs/source/api.rst
+docs/source/changelog.rst
+docs/source/conf.py
+docs/source/contributing.rst
+docs/source/example.rst
+docs/source/index.rst
+docs/source/introduction.rst
+examples/get_areas.py
+examples/get_nodes.py
+examples/get_ways.py
+overpy/__about__.py
+overpy/__init__.py
+overpy/exception.py
+overpy/helper.py
+overpy.egg-info/PKG-INFO
+overpy.egg-info/SOURCES.txt
+overpy.egg-info/dependency_links.txt
+overpy.egg-info/not-zip-safe
+overpy.egg-info/top_level.txt
+tests/__init__.py
+tests/base_class.py
+tests/test_exception.py
+tests/test_json.py
+tests/test_request.py
+tests/test_result.py
+tests/test_result_way.py
+tests/test_xml.py
+tests/json/area-01.json
+tests/json/node-01.json
+tests/json/relation-01.json
+tests/json/relation-02.json
+tests/json/relation-03.json
+tests/json/relation-04.json
+tests/json/result-expand-01.json
+tests/json/result-expand-02.json
+tests/json/result-way-01.json
+tests/json/result-way-02.json
+tests/json/result-way-03.json
+tests/json/way-01.json
+tests/json/way-02.json
+tests/json/way-03.json
+tests/json/way-04.json
+tests/response/bad-request-encoding.html
+tests/response/bad-request.html
+tests/xml/area-01.xml
+tests/xml/node-01.xml
+tests/xml/relation-01.xml
+tests/xml/relation-02.xml
+tests/xml/relation-03.xml
+tests/xml/relation-04.xml
+tests/xml/way-01.xml
+tests/xml/way-02.xml
+tests/xml/way-03.xml
+tests/xml/way-04.xml
--- a/pyextra/overpy-0.4-py2.7.egg-info/dependency_links.txt
+++ b/pyextra/overpy-0.4-py2.7.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
--- a/pyextra/overpy-0.4-py2.7.egg-info/installed-files.txt
+++ b/pyextra/overpy-0.4-py2.7.egg-info/installed-files.txt
@@ -0,0 +1,56 @@
+../overpy/__about__.py
+../overpy/__about__.pyc
+../overpy/__init__.py
+../overpy/__init__.pyc
+../overpy/exception.py
+../overpy/exception.pyc
+../overpy/helper.py
+../overpy/helper.pyc
+../tests/__init__.py
+../tests/__init__.pyc
+../tests/base_class.py
+../tests/base_class.pyc
+../tests/json/area-01.json
+../tests/json/node-01.json
+../tests/json/relation-01.json
+../tests/json/relation-02.json
+../tests/json/relation-03.json
+../tests/json/relation-04.json
+../tests/json/result-expand-01.json
+../tests/json/result-expand-02.json
+../tests/json/result-way-01.json
+../tests/json/result-way-02.json
+../tests/json/result-way-03.json
+../tests/json/way-01.json
+../tests/json/way-02.json
+../tests/json/way-03.json
+../tests/json/way-04.json
+../tests/response/bad-request-encoding.html
+../tests/response/bad-request.html
+../tests/test_exception.py
+../tests/test_exception.pyc
+../tests/test_json.py
+../tests/test_json.pyc
+../tests/test_request.py
+../tests/test_request.pyc
+../tests/test_result.py
+../tests/test_result.pyc
+../tests/test_result_way.py
+../tests/test_result_way.pyc
+../tests/test_xml.py
+../tests/test_xml.pyc
+../tests/xml/area-01.xml
+../tests/xml/node-01.xml
+../tests/xml/relation-01.xml
+../tests/xml/relation-02.xml
+../tests/xml/relation-03.xml
+../tests/xml/relation-04.xml
+../tests/xml/way-01.xml
+../tests/xml/way-02.xml
+../tests/xml/way-03.xml
+../tests/xml/way-04.xml
+PKG-INFO
+SOURCES.txt
+dependency_links.txt
+not-zip-safe
+top_level.txt
--- a/pyextra/overpy-0.4-py2.7.egg-info/not-zip-safe
+++ b/pyextra/overpy-0.4-py2.7.egg-info/not-zip-safe
@@ -0,0 +1 @@
+
--- a/pyextra/overpy-0.4-py2.7.egg-info/top_level.txt
+++ b/pyextra/overpy-0.4-py2.7.egg-info/top_level.txt
@@ -0,0 +1,2 @@
+overpy
+tests
--- a/pyextra/overpy/about.py
+++ b/pyextra/overpy/about.py
@@ -0,0 +1,22 @@
+__all__ = [
+    "__author__",
+    "__copyright__",
+    "__email__",
+    "__license__",
+    "__summary__",
+    "__title__",
+    "__uri__",
+    "__version__",
+]
+
+__title__ = "overpy"
+__summary__ = "Python Wrapper to access the OpenStreepMap Overpass API"
+__uri__ = "https://github.com/DinoTools/python-overpy"
+
+__version__ = "0.4"
+
+__author__ = "PhiBo (DinoTools)"
+__email__ = ""
+
+__license__ = "MIT"
+__copyright__ = "Copyright 2014-2016 %s" % __author__
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	860a48765d	openpilot v0.5.6 release	2018-11-17 02:08:34 -08:00
Vehicle Researcher	92c596544d	Merge pyextra subtree	2018-11-17 01:58:38 -08:00
Vehicle Researcher	efa97f23a5	Squashed 'pyextra/' changes from eb09257..fb152de fb152de add overpy git-subtree-dir: pyextra git-subtree-split: fb152de1e9e54247d933400be1dbf580f4dd0f43	2018-11-17 01:58:38 -08:00
Vehicle Researcher	3e78efacca	Merge opendbc subtree	2018-11-17 01:58:36 -08:00
Vehicle Researcher	2f0b0fb15e	Squashed 'opendbc/' changes from 62b7a01..3f6cd74 3f6cd74 Add 3rd RSA signal and cleanup (#120) a308ec1 add vals honda (#121) 1317514 Toyota: fixed typos 0339fc8 Toyota: added a better cruise active indicator b0c012d Lexus: add is 94ba43c Toyota: generated dnc files after latest change e16723e Add Distance Lines and RSA (#118) 9aec1ef Add GM signals for ESP/Mode/Highbeams/Intellibeam (#114) a67fff9 add toyota_prius_2010_pt.dbc (#50) c1ee10f Revert "Revert "GM: copy radar header from cadillac (#116)"" git-subtree-dir: opendbc git-subtree-split: 3f6cd74b6ea8e77da957501cfa3acf8ff0812509	2018-11-17 01:58:36 -08:00
Vehicle Researcher	3b744f4fba	Merge panda subtree	2018-11-17 01:58:34 -08:00
Vehicle Researcher	c10a755516	Squashed 'panda/' changes from 4dd3f5a..293fa33 293fa33 Honda: fixed message forwarding addresses from can2 to can0 799c338 Chrysler safety controls (#130) c05b15b Toyota frc on (#141) 8291971 Toyota: using a more generalized CRUISE_ACTIVE bit that works on all cars 6f157aa Toyota frc on (#140) 8d2470c bumped panda version 915ee4f Honda: forwarding CAN0 to camera, so camera can stay on (#139) git-subtree-dir: panda git-subtree-split: 293fa33f830f0c7cdfad31f621c4bdc016aa7d41	2018-11-17 01:58:34 -08:00
rbiasini	b4dd562c43	Revert "Honda Pilot tuning / lane centering fixes (#408 )" (#433 ) This reverts commit `fdbf1c5938`.	2018-11-13 14:36:29 -08:00
arne182	892e14aa92	0x470 for RAV4H (#428 ) @squall and me have checked the dsu static values for our RAV4H and found that this is similar to the highlander message.	2018-11-09 13:36:34 -08:00
rbiasini	8b7c726bea	more stable calibration (#427 ) * more stable calibration * no commented print	2018-11-08 19:48:21 -08:00
ErichMoraga	db24b1e838	Expanded the previously added Chinese RAV4 (#425 ) This came after testing a different trim level. This fingerprint is confirmed working on both.	2018-11-08 09:56:05 -08:00
dekerr	7db592d3b8	Faster calibration filtering (#421 ) * separable filter * add missing args * formatting * fix casing	2018-11-06 13:51:37 -08:00
ErichMoraga	b7c029c92c	Added fingerprint for Chinese RAV4 (#422 ) Confirmed working on 2017-2018 Chinese RAV4 by @Fiftycentsjj	2018-11-05 18:43:50 -08:00
kegman	fdbf1c5938	Honda Pilot tuning / lane centering fixes (#408 ) Tuned kP and kI and Tire Stiffness Factor settings. Fixes lane centering issues in the following situations: 1. Hugging of left lane line during fast left curving roads 2. Hugging of right lane line during fast right curving roads 3. Left bias in fast lane on crowned roads (sloping down to the left) 4. Right bias in slow lane on crowned roads (sloping down to the right) Works better when lane_width = 2.85 (vs 3.7 default) in pathplanner.py	2018-10-31 11:09:48 -07:00
dekerr	00429e6bbb	Improve VM dynamic sol accuracy (#391 ) * use solve and eye func * remove uneeded import from vehicle model	2018-10-30 22:30:09 +01:00
Jafar Al-Gharaibeh	2f8034b2ec	boardd: keep defined safety models in sync with panda repo (#412 ) This is a noop for most users, but for those of us working on new car ports where we have our own additional defines, having those defines out of sync creates merge conflicts in one place (good so we can fix it) but not the other ( not good becasue they will go unnoticed). I learned this the hardway!. Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>	2018-10-30 22:13:18 +01:00
Willem Melching	5501541aa2	Improve Toyota radar filtering (#409 )	2018-10-26 17:26:00 +02:00
Vasily Tarasov	3d05cca678	GM: disengage on radar fault (#396 ) * GM: copy cadillac's radar header DBC * Remove unused interface imports * Rename num targets message to radar header * Catch various radar faults	2018-10-23 18:59:34 -07:00
James-T1	195139999b	Update Genesis fingerprint for longer version from Saeed (#406 )	2018-10-23 18:57:51 -07:00
rbiasini	c9fa92b377	remove badly named file (#404 )	2018-10-23 12:05:11 -07:00
Willem Melching	dfa7757c40	Fix Visiond (#402 )	2018-10-22 21:59:18 +02:00
Vehicle Researcher	8f3539a27b	openpilot v0.5.5 release	2018-10-21 15:00:31 -07:00
Vehicle Researcher	d0715b6562	Squashed 'opendbc/' changes from 42f8c12..62b7a01 62b7a01 Add toyota radar SCORE field 718a632 Revert "GM: copy radar header from cadillac (#116)" a5dfd4a GM: copy radar header from cadillac (#116) git-subtree-dir: opendbc git-subtree-split: 62b7a0115307d5ce84a887d5d71ec126eb40d592	2018-10-21 14:52:59 -07:00
Vehicle Researcher	e8ae37e36e	Merge opendbc subtree	2018-10-21 14:52:59 -07:00
Vehicle Researcher	a2c76acf3b	Merge panda subtree	2018-10-21 14:52:58 -07:00
Vehicle Researcher	a51a60b598	Squashed 'panda/' changes from 5253ab0..4dd3f5a 4dd3f5a bump version 6385551 Added Tesla safety changes. (#132) git-subtree-dir: panda git-subtree-split: 4dd3f5ac0101a6a14b003ecac1105e122a8f10bd	2018-10-21 14:52:57 -07:00
Ted Slesinski	7ed5c6554d	Added new fingerprint for EX-L (#401 )	2018-10-20 11:02:00 -07:00
Andrew Frahn	5641fc986d	Revert to using CLU15 message for Gear Selection for Compatability Reasons (#362 ) * 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 * Revert to using CLU15 for Gear Selection * Missing Defines Didn’t realise this was removed as well! * Change Gear Selection Definitions Add logic to use transmission message rather than cluster message for all gear selections UNLESS the car in question does not have the known good transmission messages * Revert Camera CAN Bus * self.candidate * fixed fingerpint, tested on Sorento * Update for Elantra on Hyundai-Dev Branch Latest Elantra values that correlate to progress Community branch.	2018-10-14 07:30:18 -07:00
Vasily Tarasov	c499aa549c	GM: LKA dashboard icon support (#389 ) * GM: LKA dashboard icon support * Decrease camera keepalive interval * Use tuple for LKA icon status	2018-10-12 17:37:13 -07:00
dekerr	0a99fe3baa	Save one inverse call in building transformation matrix (#384 )	2018-10-08 21:02:20 +02:00
Jamezz	8cc32df779	Revert the changes to GM in 0.5.4 (#380 ) * Revert 0.5.4 changes for GM for 18ers * Redo the refactor of stock control msgs * Fixed missing CONTROL_MSGS -> STOCK_CONTROL_MSGS * Remove spacing * Need candidate array idx	2018-10-01 19:13:34 +02:00
George Hotz	8291f35701	Merge pull request #377 from commaai/nowiggle visiond: replace wiggly model with non wiggly model	2018-09-27 13:25:00 -08:00
George Hotz	0f885c87a5	visiond: replace wiggly model with non wiggly model	2018-09-27 09:52:07 -07:00
Vehicle Researcher	a422246dc3	openpilot v0.5.4 release	2018-09-25 00:13:41 -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	e5b2ec4f01	Merge opendbc subtree	2018-09-25 00:04:00 -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
Vehicle Researcher	97f1ee4a0d	Merge panda subtree	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