openpilot v0.5.6 release

Merge pyextra subtree
Squashed 'pyextra/' changes from eb09257..fb152de
2026-06-13 00:27:38 +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
125 changed files with 6130 additions and 1453 deletions
--- 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>
@@ -41,70 +58,59 @@ 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             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
-| GM<sup>3</sup>     | Volt 2018             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
-| Honda              | Accord 2018           | All                  | Yes     | Stock          | 0mph             | 3mph           |
-| Honda              | Civic 2016            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda              | Civic 2017            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda              | Civic 2017 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda              | Civic 2018            | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
-| Honda              | Civic 2018 *(Hatch)*  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda              | CR-V 2015             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | CR-V 2016             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | CR-V 2017             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda              | CR-V 2018             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
-| Honda              | Odyssey 2017          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda              | Odyssey 2018          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda              | Odyssey 2019          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
-| Honda              | Pilot 2017            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | Pilot 2018            | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | Pilot 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | Ridgeline 2017        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Honda              | Ridgeline 2018        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
-| Hyundai<sup>6</sup>| Santa Fe 2019         | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Hyundai<sup>6</sup>| Elantra 2017          | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          |
-| Hyundai<sup>6</sup>| Genesis 2018          | All                  | Yes     | Stock          | 19mph            | 34mph          |
-| Kia<sup>6</sup>    | Sorento 2018          | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Kia<sup>6</sup>    | Stinger 2018          | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           |
-| Lexus              | RX Hybrid 2017        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Lexus              | RX Hybrid 2018        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Camry 2018<sup>4</sup>| All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           |
-| Toyota             | C-HR 2018<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           |
-| Toyota             | Corolla 2017          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Corolla 2018          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Highlander 2017       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Highlander Hybrid 2018| All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius 2016            | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius 2017            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius 2018            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius Prime 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Prius Prime 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Rav4 2016             | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Rav4 2017             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Rav4 2018             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           |
-| Toyota             | Rav4 Hybrid 2017      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
-| Toyota             | Rav4 Hybrid 2018      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| 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>Giraffe is under development: architecture similar to Toyota giraffe, with an extra 120Ohm resistor on bus 3.
+<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](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.

@@ -113,6 +119,7 @@ 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.
@@ -128,7 +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
 ------
@@ -163,7 +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.

@@ -187,6 +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
 ------

@@ -205,3 +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 +1,19 @@
+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
--- 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
@@ -71,6 +71,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    belowSteerSpeed @46;
    calibrationProgress @47;
    lowBattery @48;
+    invalidGiraffeHonda @49;
  }
 }

@@ -260,13 +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;
    }
  }
 }
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -410,6 +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;
@@ -1558,6 +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;
@@ -1623,5 +1637,7 @@ struct Event {
    orbFeaturesSummary @58 :OrbFeaturesSummary;
    driverMonitoring @59 :DriverMonitoring;
    boot @60 :Boot;
+    liveParameters @61 :LiveParametersData;
+    liveMapData @62 :LiveMapData;
  }
 }
--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@@ -6,7 +6,7 @@ from cffi import FFI

 TMPDIR = "/tmp/ccache"

-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
+def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
  try:
    os.mkdir(tmpdir)
@@ -21,19 +21,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
      mod = __import__(cache)
    except Exception:
      print "cache miss", cache
-      compile_code(cache, c_code, c_header, tmpdir)
+      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):
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
  ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp')
+  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'] = ""
+  os.environ['CFLAGS'] = cflags
  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)

 def wrap_compiled(name, directory):
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -75,10 +75,8 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
      [0, 0, 1],
  ]))

-  ground_from_camera_frame = np.linalg.inv(camera_frame_from_road_ground)
-
-  low_camera_from_high_camera = np.dot(camera_frame_from_road_high, ground_from_camera_frame)
-  high_camera_from_low_camera = np.linalg.inv(low_camera_from_high_camera)
+  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

--- a/opendbc/acura_ilx_2016_can_generated.dbc
+++ b/opendbc/acura_ilx_2016_can_generated.dbc
@@ -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
@@ -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/generator/honda/_bosch_2018.dbc
+++ b/opendbc/generator/honda/_bosch_2018.dbc
@@ -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/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_civic_touring_2016_can.dbc
+++ b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc
@@ -129,7 +129,7 @@ CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
 CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 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/_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/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
@@ -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
@@ -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_lx15t_2018_can.dbc starts here"


--- a/opendbc/honda_accord_s2t_2018_can_generated.dbc
+++ b/opendbc/honda_accord_s2t_2018_can_generated.dbc
@@ -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
@@ -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
@@ -358,7 +358,7 @@ CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
 CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
 CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";

-VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 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
@@ -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
@@ -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
@@ -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
@@ -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_pilot_touring_2017_can_generated.dbc
+++ b/opendbc/honda_pilot_touring_2017_can_generated.dbc
@@ -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
@@ -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/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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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_avalon_2017_pt_generated.dbc
+++ b/opendbc/toyota_avalon_2017_pt_generated.dbc
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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_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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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
@@ -72,6 +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
@@ -89,11 +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
@@ -134,23 +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
@@ -181,6 +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
@@ -192,33 +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/VERSION
+++ b/panda/VERSION
@@ -1 +1 @@
-v1.1.5
+v1.1.7
--- a/panda/board/safety.h
+++ b/panda/board/safety.h
@@ -56,11 +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;
@@ -100,6 +102,8 @@ typedef struct {
 #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
@@ -114,9 +118,11 @@ const safety_hook_config safety_hook_registry[] = {
  {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},
--- 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_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -138,15 +138,6 @@ static void honda_init(int16_t param) {
  honda_alt_brake_msg = false;
 }

-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 = nooutput_fwd_hook,
-};
-
 static void honda_bosch_init(int16_t param) {
  controls_allowed = 0;
  bosch_hardware = true;
@@ -154,6 +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;
@@ -162,6 +169,15 @@ 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,
--- 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) {
@@ -150,13 +149,15 @@ 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);
@@ -177,6 +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;
 }

--- 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
@@ -81,6 +81,12 @@ 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
@@ -121,6 +121,10 @@ 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;
 }
@@ -183,3 +187,17 @@ void init_tests_honda(void){
  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_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/pyextra/overpy/init.py
+++ b/pyextra/overpy/init.py
--- a/pyextra/overpy/exception.py
+++ b/pyextra/overpy/exception.py
@@ -0,0 +1,108 @@
+class OverPyException(BaseException):
+    """OverPy base exception"""
+    pass
+
+
+class DataIncomplete(OverPyException):
+    """
+    Raised if the requested data isn't available in the result.
+    Try to improve the query or to resolve the missing data.
+    """
+    def __init__(self, *args, **kwargs):
+        OverPyException.__init__(
+            self,
+            "Data incomplete try to improve the query to resolve the missing data",
+            *args,
+            **kwargs
+        )
+
+
+class ElementDataWrongType(OverPyException):
+    """
+    Raised if the provided element does not match the expected type.
+
+    :param type_expected: The expected element type
+    :type type_expected: String
+    :param type_provided: The provided element type
+    :type type_provided: String|None
+    """
+    def __init__(self, type_expected, type_provided=None):
+        self.type_expected = type_expected
+        self.type_provided = type_provided
+
+    def __str__(self):
+        return "Type expected '%s' but '%s' provided" % (
+            self.type_expected,
+            str(self.type_provided)
+        )
+
+
+class OverpassBadRequest(OverPyException):
+    """
+    Raised if the Overpass API service returns a syntax error.
+
+    :param query: The encoded query how it was send to the server
+    :type query: Bytes
+    :param msgs: List of error messages
+    :type msgs: List
+    """
+    def __init__(self, query, msgs=None):
+        self.query = query
+        if msgs is None:
+            msgs = []
+        self.msgs = msgs
+
+    def __str__(self):
+        tmp_msgs = []
+        for tmp_msg in self.msgs:
+            if not isinstance(tmp_msg, str):
+                tmp_msg = str(tmp_msg)
+            tmp_msgs.append(tmp_msg)
+
+        return "\n".join(tmp_msgs)
+
+
+class OverpassGatewayTimeout(OverPyException):
+    """
+    Raised if load of the Overpass API service is too high and it can't handle the request.
+    """
+    def __init__(self):
+        OverPyException.__init__(self, "Server load too high")
+
+
+class OverpassTooManyRequests(OverPyException):
+    """
+    Raised if the Overpass API service returns a 429 status code.
+    """
+    def __init__(self):
+        OverPyException.__init__(self, "Too many requests")
+
+
+class OverpassUnknownContentType(OverPyException):
+    """
+    Raised if the reported content type isn't handled by OverPy.
+
+    :param content_type: The reported content type
+    :type content_type: None or String
+    """
+    def __init__(self, content_type):
+        self.content_type = content_type
+
+    def __str__(self):
+        if self.content_type is None:
+            return "No content type returned"
+        return "Unknown content type: %s" % self.content_type
+
+
+class OverpassUnknownHTTPStatusCode(OverPyException):
+    """
+    Raised if the returned HTTP status code isn't handled by OverPy.
+
+    :param code: The HTTP status code
+    :type code: Integer
+    """
+    def __init__(self, code):
+        self.code = code
+
+    def __str__(self):
+        return "Unknown/Unhandled status code: %d" % self.code
--- a/pyextra/overpy/helper.py
+++ b/pyextra/overpy/helper.py
@@ -0,0 +1,64 @@
+__author__ = 'mjob'
+
+import overpy
+
+
+def get_street(street, areacode, api=None):
+    """
+    Retrieve streets in a given bounding area
+
+    :param overpy.Overpass api: First street of intersection
+    :param String street: Name of street
+    :param String areacode: The OSM id of the bounding area
+    :return: Parsed result
+    :raises overpy.exception.OverPyException: If something bad happens.
+    """
+    if api is None:
+        api = overpy.Overpass()
+
+    query = """
+        area(%s)->.location;
+        (
+            way[highway][name="%s"](area.location);
+            - (
+                way[highway=service](area.location);
+                way[highway=track](area.location);
+            );
+        );
+        out body;
+        >;
+        out skel qt;
+    """
+
+    data = api.query(query % (areacode, street))
+
+    return data
+
+
+def get_intersection(street1, street2, areacode, api=None):
+    """
+    Retrieve intersection of two streets in a given bounding area
+
+    :param overpy.Overpass api: First street of intersection
+    :param String street1: Name of first street of intersection
+    :param String street2: Name of second street of intersection
+    :param String areacode: The OSM id of the bounding area
+    :return: List of intersections
+    :raises overpy.exception.OverPyException: If something bad happens.
+    """
+    if api is None:
+        api = overpy.Overpass()
+
+    query = """
+        area(%s)->.location;
+        (
+            way[highway][name="%s"](area.location); node(w)->.n1;
+            way[highway][name="%s"](area.location); node(w)->.n2;
+        );
+        node.n1.n2;
+        out meta;
+    """
+
+    data = api.query(query % (areacode, street1, street2))
+
+    return data.get_nodes()
--- a/selfdrive/assets/sounds/disengaged.wav
+++ b/selfdrive/assets/sounds/disengaged.wav
--- a/selfdrive/assets/sounds/engaged.wav
+++ b/selfdrive/assets/sounds/engaged.wav
--- a/selfdrive/assets/sounds/error.wav
+++ b/selfdrive/assets/sounds/error.wav
--- a/selfdrive/assets/sounds/warning_1.wav
+++ b/selfdrive/assets/sounds/warning_1.wav
--- a/selfdrive/assets/sounds/warning_2.wav
+++ b/selfdrive/assets/sounds/warning_2.wav
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -40,8 +40,11 @@
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
+#define SAFETY_TESLA 8
+#define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
+#define SAFETY_ELM327 0xE327

 namespace {

--- a/selfdrive/boardd/boardd.py
+++ b/selfdrive/boardd/boardd.py
@@ -1,4 +1,8 @@
 #!/usr/bin/env python
+
+# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and
+# delete this python version of boardd
+
 import os
 import struct
 import zmq
@@ -16,8 +20,6 @@ try:
 except Exception:
  pass

-# TODO: rewrite in C to save CPU
-
 SAFETY_NOOUTPUT = 0
 SAFETY_HONDA = 1
 SAFETY_TOYOTA = 2
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -4,13 +4,13 @@ from selfdrive.config import Conversions as CV
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import CAR, DBC, AccState
+from selfdrive.car.gm.values import CAR, DBC
 from selfdrive.can.packer import CANPacker


 class CarControllerParams():
  def __init__(self, car_fingerprint):
-    if car_fingerprint == CAR.VOLT:
+    if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
      self.STEER_MAX = 300
      self.STEER_STEP = 2              # how often we update the steer cmd
      self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
@@ -26,14 +26,18 @@ class CarControllerParams():
    self.STEER_DRIVER_FACTOR = 100     # from dbc
    self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop

-    self.ADAS_KEEPALIVE_STEP = 10
+    # Takes case of "Service Adaptive Cruise" and "Service Front Camera"
+    # dashboard messages.
+    self.ADAS_KEEPALIVE_STEP = 100
+    self.CAMERA_KEEPALIVE_STEP = 100
+
    # pedal lookups, only for Volt
    MAX_GAS = 3072              # Only a safety limit
-    self.ZERO_GAS = 2048
+    ZERO_GAS = 2048
    MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
    self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
-    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, MAX_GAS]
+    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
    self.BRAKE_LOOKUP_BP = [-1., -0.25]
    self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]

@@ -59,12 +63,11 @@ class CarController(object):
    self.pedal_steady = 0.
    self.start_time = sec_since_boot()
    self.chime = 0
-    self.lkas_active = False
-    self.inhibit_steer_for = 0
    self.steer_idx = 0
    self.apply_steer_last = 0
    self.car_fingerprint = car_fingerprint
    self.allow_controls = allow_controls
+    self.lka_icon_status_last = (False, False)

    # Setup detection helper. Routes commands to
    # an appropriate CAN bus number.
@@ -83,6 +86,7 @@ class CarController(object):
      return

    P = self.params
+
    # Send CAN commands.
    can_sends = []
    canbus = self.canbus
@@ -100,7 +104,7 @@ class CarController(object):
      self.apply_steer_last = apply_steer
      idx = (frame / P.STEER_STEP) % 4

-      if self.car_fingerprint == CAR.VOLT:
+      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
        can_sends.append(gmcan.create_steering_control(self.packer_pt,
          canbus.powertrain, apply_steer, idx, lkas_enabled))
      if self.car_fingerprint == CAR.CADILLAC_CT6:
@@ -109,7 +113,7 @@ class CarController(object):

    ### GAS/BRAKE ###

-    if self.car_fingerprint == CAR.VOLT:
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
      # no output if not enabled, but keep sending keepalive messages
      # treat pedals as one
      final_pedal = actuators.gas - actuators.brake
@@ -130,18 +134,12 @@ class CarController(object):
      if (frame % 4) == 0:
        idx = (frame / 4) % 4

-        car_stopping = apply_gas < P.ZERO_GAS
-        standstill = CS.pcm_acc_status == AccState.STANDSTILL
-        at_full_stop = enabled and standstill and car_stopping
-        near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) and car_stopping
+        at_full_stop = enabled and CS.standstill
+        near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))

-        # Auto-resume from full stop by resetting ACC control
-        acc_enabled = enabled
-        if standstill and not car_stopping:
-          acc_enabled = False
-
-        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, acc_enabled, at_full_stop))
+        at_full_stop = enabled and CS.standstill
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))

      # Send dashboard UI commands (ACC status), 25hz
      if (frame % 4) == 0:
@@ -163,10 +161,21 @@ class CarController(object):
        can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
        can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))

-      # Send ADAS keepalive, 10hz
      if frame % P.ADAS_KEEPALIVE_STEP == 0:
        can_sends += gmcan.create_adas_keepalive(canbus.powertrain)

+    # Show green icon when LKA torque is applied, and
+    # alarming orange icon when approaching torque limit.
+    # If not sent again, LKA icon disappears in about 5 seconds.
+    # Conveniently, sending camera message periodically also works as a keepalive.
+    lka_active = CS.lkas_status == 1
+    lka_critical = lka_active and abs(actuators.steer) > 0.9
+    lka_icon_status = (lka_active, lka_critical)
+    if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
+        or lka_icon_status != self.lka_icon_status_last:
+      can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical))
+      self.lka_icon_status_last = lka_icon_status
+
    # Send chimes
    if self.chime != chime:
      duration = 0x3c
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -31,7 +31,7 @@ def get_powertrain_can_parser(CP, canbus):
    ("LKATorqueDeliveredStatus", "PSCMStatus", 0),
  ]

-  if CP.carFingerprint == CAR.VOLT:
+  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU):
    signals += [
      ("RegenPaddle", "EBCMRegenPaddle", 0),
      ("TractionControlOn", "ESPStatus", 0),
@@ -117,14 +117,14 @@ class CarState(object):
    self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
    self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2

-    if self.car_fingerprint == CAR.VOLT:
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
      self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
      self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
      self.acc_active = False
      self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
      self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
      self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
-    else: 
+    else:
      self.park_brake = False
      self.main_on = False
      self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']
@@ -141,4 +141,3 @@ class CarState(object):
    self.brake_pressed = self.user_brake > 10 or self.regen_pressed

    self.gear_shifter_valid = self.gear_shifter == car.CarState.GearShifter.drive
-
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -60,15 +60,17 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st

 def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):

-  mode = 0x1
-  if apply_brake > 0:
+  if apply_brake == 0:
+    mode = 0x1
+  else:
    mode = 0xa

-  if near_stop:
-    mode = 0xb
-
-  if at_full_stop:
-    mode = 0xd
+    if at_full_stop:
+      mode = 0xd
+    # TODO: this is to have GM bringing the car to complete stop,
+    # but currently it conflicts with OP controls, so turned off.
+    #elif near_stop:
+    #  mode = 0xb

  brake = (0x1000 - apply_brake) & 0xfff
  checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
@@ -132,6 +134,16 @@ def create_chime_command(bus, chime_type, duration, repeat_cnt):
  dat = [chime_type, duration, repeat_cnt, 0xff, 0]
  return [0x10400060, 0, "".join(map(chr, dat)), bus]

+def create_lka_icon_command(bus, active, critical):
+  if active:
+    if critical:
+      dat = "\x40\xc0\x14"
+    else:
+      dat = "\x40\x40\x18"
+  else:
+    dat = "\x00\x00\x00"
+  return [0x104c006c, 0, dat, bus]
+
 # TODO: WIP
 '''
 def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -4,7 +4,7 @@ from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS
+from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser

 try:
@@ -85,6 +85,16 @@ class CarInterface(object):
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.4 # wild guess

+    elif candidate == CAR.MALIBU:
+      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.mass = 1496 + std_cargo
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.wheelbase = 2.83
+      ret.steerRatio = 15.8
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.4 # wild guess
+
    elif candidate == CAR.CADILLAC_CT6:
      # engage speed is decided by pcm
      ret.minEnableSpeed = -1
@@ -193,7 +203,7 @@ class CarInterface(object):
    ret.cruiseState.available = bool(self.CS.main_on)
    cruiseEnabled = self.CS.pcm_acc_status != 0
    ret.cruiseState.enabled = cruiseEnabled
-    ret.cruiseState.standstill = False
+    ret.cruiseState.standstill = self.CS.pcm_acc_status == 4

    ret.leftBlinker = self.CS.left_blinker_on
    ret.rightBlinker = self.CS.right_blinker_on
@@ -254,7 +264,7 @@ class CarInterface(object):
    if ret.seatbeltUnlatched:
      events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

-    if self.CS.car_fingerprint == CAR.VOLT:
+    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU):

      if self.CS.brake_error:
        events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
@@ -276,6 +286,8 @@ class CarInterface(object):
        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
      if ret.gasPressed:
        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      if ret.cruiseState.standstill:
+        events.append(create_event('resumeRequired', [ET.WARNING]))

      # handle button presses
      for b in ret.buttonEvents:
@@ -310,15 +322,7 @@ class CarInterface(object):
    if hud_v_cruise > 70:
      hud_v_cruise = 0

-    chime, chime_count = {
-      "none": (0, 0),
-      "beepSingle": (CM.HIGH_CHIME, 1),
-      "beepTriple": (CM.HIGH_CHIME, 3),
-      "beepRepeated": (CM.LOW_CHIME, -1),
-      "chimeSingle": (CM.LOW_CHIME, 1),
-      "chimeDouble": (CM.LOW_CHIME, 2),
-      "chimeRepeated": (CM.LOW_CHIME, -1),
-      "chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)]
+    chime, chime_count = AUDIO_HUD[c.hudControl.audibleAlert.raw]

    # For Openpilot, "enabled" includes pre-enable.
    # In GM, PCM faults out if ACC command overlaps user gas.
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -11,26 +11,30 @@ from common.realtime import sec_since_boot
 from selfdrive.services import service_list
 import selfdrive.messaging as messaging

-NUM_TARGETS_MSG = 1120
-SLOT_1_MSG = NUM_TARGETS_MSG + 1
+RADAR_HEADER_MSG = 1120
+SLOT_1_MSG = RADAR_HEADER_MSG + 1
 NUM_SLOTS = 20

 # Actually it's 0x47f, but can parser only reports
 # messages that are present in DBC
-LAST_RADAR_MSG = NUM_TARGETS_MSG + NUM_SLOTS
+LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS

 def create_radard_can_parser(canbus, car_fingerprint):

  dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint == CAR.VOLT:
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
    # C1A-ARS3-A by Continental
    radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
-    signals = zip(['LRRNumObjects'] +
+    signals = zip(['FLRRNumValidTargets',
+                   'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
+                   'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
+                   'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
                  ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
                  ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
                  ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
-                  [NUM_TARGETS_MSG] + radar_targets * 6,
-                  [0] + [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
+                  [RADAR_HEADER_MSG] * 7 + radar_targets * 6,
+                  [0] * 7 +
+                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
                  [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
                  [0.0] * NUM_SLOTS + [0] * NUM_SLOTS)

@@ -44,8 +48,6 @@ class RadarInterface(object):
  def __init__(self, CP):
    # radar
    self.pts = {}
-    self.track_id = 0
-    self.num_targets = 0

    self.delay = 0.0  # Delay of radar

@@ -70,22 +72,27 @@ class RadarInterface(object):
      if LAST_RADAR_MSG in updated_messages:
        break

+    header = self.rcp.vl[RADAR_HEADER_MSG]
+    fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
+      header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
+      header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
    errors = []
    if not self.rcp.can_valid:
-      errors.append("notValid")
+      errors.append("commIssue")
+    if fault:
+      errors.append("fault")
    ret.errors = errors

    currentTargets = set()
-    if self.rcp.vl[NUM_TARGETS_MSG]['LRRNumObjects'] != self.num_targets:
-      self.num_targets = self.rcp.vl[NUM_TARGETS_MSG]['LRRNumObjects']
+    num_targets = header['FLRRNumValidTargets']

    # Not all radar messages describe targets,
-    # no need to monitor all of the sself.rcp.msgs_upd
+    # no need to monitor all of the self.rcp.msgs_upd
    for ii in updated_messages:
-      if ii == NUM_TARGETS_MSG:
+      if ii == RADAR_HEADER_MSG:
        continue

-      if self.num_targets == 0:
+      if num_targets == 0:
        break

      cpt = self.rcp.vl[ii]
@@ -118,5 +125,3 @@ if __name__ == "__main__":
    ret = RI.update()
    print(chr(27) + "[2J")
    print ret
-
-
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,9 +1,12 @@
 from cereal import car
 from selfdrive.car import dbc_dict

+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
 class CAR:
  VOLT = "CHEVROLET VOLT PREMIER 2017"
  CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
+  MALIBU = "CHEVROLET MALIBU PREMIER 2017"

 class CruiseButtons:
  UNPRESS     = 1
@@ -12,15 +15,28 @@ class CruiseButtons:
  MAIN        = 5
  CANCEL      = 6

-class AccState:
-  OFF        = 0
-  ACTIVE     = 1
-  FAULTED    = 3
-  STANDSTILL = 4
+# Car chimes, beeps, blinker sounds etc
+class CM:
+  TOCK = 0x81
+  TICK = 0x82
+  LOW_BEEP = 0x84
+  HIGH_BEEP = 0x85
+  LOW_CHIME = 0x86
+  HIGH_CHIME = 0x87
+
+AUDIO_HUD = {
+  AudibleAlert.none: (0, 0),
+  AudibleAlert.chimeEngage: (CM.HIGH_CHIME, 1),
+  AudibleAlert.chimeDisengage: (CM.HIGH_CHIME, 1),
+  AudibleAlert.chimeError: (CM.LOW_CHIME, 2),
+  AudibleAlert.chimePrompt: (CM.LOW_CHIME, 1),
+  AudibleAlert.chimeWarning1: (CM.LOW_CHIME, 2),
+  AudibleAlert.chimeWarning2: (CM.LOW_CHIME, -1),
+  AudibleAlert.chimeWarningRepeat: (CM.LOW_CHIME, -1)}

 def is_eps_status_ok(eps_status, car_fingerprint):
  valid_eps_status = []
-  if car_fingerprint == CAR.VOLT:
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
    valid_eps_status += [0, 1]
  elif car_fingerprint == CAR.CADILLAC_CT6:
    valid_eps_status += [0, 1, 4, 5, 6]
@@ -51,17 +67,23 @@ FINGERPRINTS = {
  CAR.CADILLAC_CT6: [{
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
  }],
+  CAR.MALIBU: [
+  # Malibu Premier w/ ACC 2017
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
+  }],
 }

 STEER_THRESHOLD = 1.0

-
 STOCK_CONTROL_MSGS = {
  CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
  CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
 }

 DBC = {
  CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
 }
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -1,5 +1,5 @@
-from cereal import car
 from collections import namedtuple
+from common.realtime import sec_since_boot
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.controls.lib.drive_helpers import rate_limit
 from common.numpy_fast import clip
@@ -8,7 +8,7 @@ from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker

 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
-  # hyst params... TODO: move these to VehicleParams
+  # hyst params
  brake_hyst_on = 0.02     # to activate brakes exceed this value
  brake_hyst_off = 0.005                     # to deactivate brakes below this value
  brake_hyst_gap = 0.01                      # don't change brake command for small ocilalitons within this value
@@ -33,6 +33,24 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
  return brake, braking, brake_steady


+def brake_pump_hysteresys(apply_brake, apply_brake_last, last_pump_ts):
+  ts = sec_since_boot()
+  pump_on = False
+
+  # reset pump timer if:
+  # - there is an increment in brake request
+  # - we are applying steady state brakes and we haven't been running the pump
+  #   for more than 20s (to prevent pressure bleeding)
+  if apply_brake > apply_brake_last or (ts - last_pump_ts > 20 and apply_brake > 0):
+    last_pump_ts = ts
+
+  # once the pump is on, run it for at least 0.2s
+  if ts - last_pump_ts < 0.2 and apply_brake > 0:
+    pump_on = True
+
+  return pump_on, last_pump_ts
+
+
 def process_hud_alert(hud_alert):
  # initialize to no alert
  fcw_display = 0
@@ -60,6 +78,8 @@ class CarController(object):
    self.braking = False
    self.brake_steady = 0.
    self.brake_last = 0.
+    self.apply_brake_last = 0
+    self.last_pump_ts = 0
    self.enable_camera = enable_camera
    self.packer = CANPacker(dbc_name)
    self.new_radar_config = False
@@ -109,9 +129,6 @@ class CarController(object):
    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
                  0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)

-    if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
-      hud = HUDData(0xc6, 255, 64, 0xc0, 209, 0x40, 0, 0, 0, 0)
-
    # **** process the car messages ****

    # *** compute control surfaces ***
@@ -128,7 +145,6 @@ class CarController(object):
    apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
    apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))

-    # any other cp.vl[0x18F]['STEER_STATUS'] is common and can happen during user override. sending 0 torque to avoid EPS sending error 5
    lkas_active = enabled and not CS.steer_not_allowed

    # Send CAN commands.
@@ -136,7 +152,8 @@ class CarController(object):

    # Send steering command.
    idx = frame % 4
-    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, lkas_active, CS.CP.carFingerprint, idx))
+    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
+      lkas_active, CS.CP.carFingerprint, idx))

    # Send dashboard UI commands.
    if (frame % 10) == 0:
@@ -149,28 +166,19 @@ class CarController(object):
        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx))
      elif CS.stopped:
        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
+
    else:
      # Send gas and brake commands.
      if (frame % 2) == 0:
        idx = (frame / 2) % 4
-        can_sends.append(
-          hondacan.create_brake_command(self.packer, apply_brake, pcm_override,
-                                      pcm_cancel_cmd, hud.chime, hud.fcw, idx))
+        pump_on, self.last_pump_ts = brake_pump_hysteresys(apply_brake, self.apply_brake_last, self.last_pump_ts)
+        can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
+          pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx))
+        self.apply_brake_last = apply_brake
+
        if CS.CP.enableGasInterceptor:
          # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
          # This prevents unexpected pedal range rescaling
          can_sends.append(hondacan.create_gas_command(self.packer, apply_gas, idx))

-      # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
-      if CS.CP.carFingerprint == CAR.ACURA_ILX:
-        radar_send_step = 2
-      else:
-        radar_send_step = 5
-
-      if (frame % radar_send_step) == 0:
-        idx = (frame/radar_send_step) % 4
-        if not self.new_radar_config:  # only change state once
-          self.new_radar_config = car.RadarState.Error.wrongConfig in radar_error
-        can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, self.new_radar_config, idx))
-
    sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -2,7 +2,7 @@ from common.numpy_fast import interp
 from common.kalman.simple_kalman import KF1D
 from selfdrive.can.parser import CANParser, CANDefine
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH

 def parse_gear_shifter(gear, vals):

@@ -129,6 +129,17 @@ def get_can_parser(CP):
  signals, checks = get_can_signals(CP)
  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)

+def get_cam_can_parser(CP):
+  signals = []
+
+  # all hondas except CRV and RDX use 0xe4 for steering
+  checks = [(0xe4, 100)]
+  if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX]:
+    checks = [(0x194, 100)]
+
+  cam_bus = 1 if CP.carFingerprint in HONDA_BOSCH else 2
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, cam_bus)

 class CarState(object):
  def __init__(self, CP):
@@ -160,10 +171,11 @@ class CarState(object):
                         K=[[0.12287673], [0.29666309]])
    self.v_ego = 0.0

-  def update(self, cp):
+  def update(self, cp, cp_cam):

-    # copy can_valid
+    # copy can_valid on buses 0 and 2
    self.can_valid = cp.can_valid
+    self.cam_can_valid = cp_cam.can_valid

    # car params
    v_weight_v = [0., 1.]  # don't trust smooth speed at low values to avoid premature zero snapping
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,8 +1,6 @@
 import struct
-
-import common.numpy_fast as np
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, HONDA_BOSCH, VEHICLE_STATE_MSG
+from selfdrive.car.honda.values import CAR, HONDA_BOSCH

 # *** Honda specific ***
 def can_cksum(mm):
@@ -21,16 +19,8 @@ def fix(msg, addr):
  return msg2


-def make_can_msg(addr, dat, idx, alt):
-  if idx is not None:
-    dat += chr(idx << 4)
-    dat = fix(dat, addr)
-  return [addr, 0, dat, alt]
-
-
-def create_brake_command(packer, apply_brake, pcm_override, pcm_cancel_cmd, chime, fcw, idx):
-  """Creates a CAN message for the Honda DBC BRAKE_COMMAND."""
-  pump_on = apply_brake > 0
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx):
+  # TODO: do we loose pressure if we keep pump off for long?
  brakelights = apply_brake > 0
  brake_rq = apply_brake > 0
  pcm_fault_cmd = False
@@ -45,13 +35,13 @@ def create_brake_command(packer, apply_brake, pcm_override, pcm_cancel_cmd, chim
    "SET_ME_0X80": 0x80,
    "BRAKE_LIGHTS": brakelights,
    "CHIME": chime,
-    "FCW": fcw << 1,  # TODO: Why are there two bits for fcw? According to dbc file the first bit should also work
+    # TODO: Why are there two bits for fcw? According to dbc file the first bit should also work
+    "FCW": fcw << 1,
  }
  return packer.make_can_msg("BRAKE_COMMAND", 0, values, idx)


 def create_gas_command(packer, gas_amount, idx):
-  """Creates a CAN message for the Honda DBC GAS_COMMAND."""
  enable = gas_amount > 0.001

  values = {"ENABLE": enable}
@@ -64,7 +54,6 @@ def create_gas_command(packer, gas_amount, idx):


 def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx):
-  """Creates a CAN message for the Honda DBC STEERING_CONTROL."""
  values = {
    "STEER_TORQUE": apply_steer if lkas_active else 0,
    "STEER_TORQUE_REQUEST": lkas_active,
@@ -75,7 +64,6 @@ def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, i


 def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
-  """Creates an iterable of CAN messages for the UIs."""
  commands = []
  bus = 0

@@ -105,7 +93,6 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
  commands.append(packer.make_can_msg('LKAS_HUD', bus, lkas_hud_values, idx))

  if car_fingerprint in (CAR.CIVIC, CAR.ODYSSEY):
-    commands.append(packer.make_can_msg('HIGHBEAM_CONTROL', 0, {'HIGHBEAMS_ON': False}, idx))

    radar_hud_values = {
      'ACC_ALERTS': hud.acc_alert,
@@ -117,26 +104,6 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
  return commands


-def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
-  """Creates an iterable of CAN messages for the radar system."""
-  commands = []
-  v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
-  speed = struct.pack('!B', v_ego_kph)
-
-  msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +
-               ("\x20" if idx == 0 or idx == 3 else "\x00") +
-               "\x00\x00")
-  msg_0x301 = VEHICLE_STATE_MSG[car_fingerprint]
-
-  idx_0x300 = idx
-  if car_fingerprint == CAR.CIVIC:
-    idx_offset = 0xc if new_radar_config else 0x8   # radar in civic 2018 requires 0xc
-    idx_0x300 += idx_offset
-
-  commands.append(make_can_msg(0x300, msg_0x300, idx_0x300, 1))
-  commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
-  return commands
-
 def spam_buttons_command(packer, button_val, idx):
  values = {
    'CRUISE_BUTTONS': button_val,
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -8,9 +8,9 @@ from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.honda.carstate import CarState, get_can_parser
-from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH, CAR, HONDA_BOSCH
-from selfdrive.controls.lib.planner import A_ACC_MAX
+from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
+from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD
+from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING

 try:
  from selfdrive.car.honda.carcontroller import CarController
@@ -22,6 +22,8 @@ except ImportError:
 # those messages are mutually exclusive on CRV and non-CRV cars
 CAMERA_MSGS = [0xe4, 0x194]

+A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
+

 def compute_gb_honda(accel, speed):
  creep_brake = 0.0
@@ -87,8 +89,10 @@ class CarInterface(object):
    self.gas_pressed_prev = False
    self.brake_pressed_prev = False
    self.can_invalid_count = 0
+    self.cam_can_invalid_count = 0

    self.cp = get_can_parser(CP)
+    self.cp_cam = get_cam_can_parser(CP)

    # *** init the major players ***
    self.CS = CarState(CP)
@@ -106,6 +110,12 @@ class CarInterface(object):

  @staticmethod
  def calc_accel_override(a_ego, a_target, v_ego, v_target):
+
+    # normalized max accel. Allowing max accel at low speed causes speed overshoots
+    max_accel_bp = [10, 20]    # m/s
+    max_accel_v = [0.714, 1.0] # unit of max accel
+    max_accel = interp(v_ego, max_accel_bp, max_accel_v)
+
    # limit the pcm accel cmd if:
    # - v_ego exceeds v_target, or
    # - a_ego exceeds a_target and v_ego is close to v_target
@@ -128,7 +138,7 @@ class CarInterface(object):
    # accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
    # unless aTargetMax is very high and then we scale with it; this help in quicker restart

-    return float(max(0.714, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
+    return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)

  @staticmethod
  def get_params(candidate, fingerprint):
@@ -370,8 +380,9 @@ class CarInterface(object):
    canMonoTimes = []

    self.cp.update(int(sec_since_boot() * 1e9), False)
+    self.cp_cam.update(int(sec_since_boot() * 1e9), False)

-    self.CS.update(self.cp)
+    self.CS.update(self.cp, self.cp_cam)

    # create message
    ret = car.CarState.new_message()
@@ -483,6 +494,12 @@ class CarInterface(object):
        events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
    else:
      self.can_invalid_count = 0
+    if not self.CS.cam_can_valid and self.CP.enableCamera:
+      self.cam_can_invalid_count += 1
+      if self.cam_can_invalid_count >= 5 and self.CS.CP.carFingerprint not in HONDA_BOSCH:
+        events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
+    else:
+      self.cam_can_invalid_count = 0
    if self.CS.steer_error:
      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
    elif self.CS.steer_warning:
@@ -574,24 +591,8 @@ class CarInterface(object):
    else:
      hud_v_cruise = 255

-    hud_alert = {
-      "none": AH.NONE,
-      "fcw": AH.FCW,
-      "steerRequired": AH.STEER,
-      "brakePressed": AH.BRAKE_PRESSED,
-      "wrongGear": AH.GEAR_NOT_D,
-      "seatbeltUnbuckled": AH.SEATBELT,
-      "speedTooHigh": AH.SPEED_TOO_HIGH}[str(c.hudControl.visualAlert)]
-
-    snd_beep, snd_chime = {
-      "none": (BP.MUTE, CM.MUTE),
-      "beepSingle": (BP.SINGLE, CM.MUTE),
-      "beepTriple": (BP.TRIPLE, CM.MUTE),
-      "beepRepeated": (BP.REPEATED, CM.MUTE),
-      "chimeSingle": (BP.MUTE, CM.SINGLE),
-      "chimeDouble": (BP.MUTE, CM.DOUBLE),
-      "chimeRepeated": (BP.MUTE, CM.REPEATED),
-      "chimeContinuous": (BP.MUTE, CM.CONTINUOUS)}[str(c.hudControl.audibleAlert)]
+    hud_alert = VISUAL_HUD[c.hudControl.visualAlert.raw]
+    snd_beep, snd_chime = AUDIO_HUD[c.hudControl.audibleAlert.raw]

    pcm_accel = int(clip(c.cruiseControl.accelOverride,0,1)*0xc6)

--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1,5 +1,9 @@
+from cereal import car
 from selfdrive.car import dbc_dict

+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
 # Car button codes
 class CruiseButtons:
  RES_ACCEL   = 4
@@ -15,13 +19,23 @@ class CM:
  REPEATED = 1
  CONTINUOUS = 2

-#car beepss: enumeration from dbc file. Beeps are for activ and deactiv
+#car beeps: enumeration from dbc file. Beeps are for engage and disengage
 class BP:
  MUTE = 0
  SINGLE = 3
  TRIPLE = 2
  REPEATED = 1

+AUDIO_HUD = {
+  AudibleAlert.none: (BP.MUTE, CM.MUTE),
+  AudibleAlert.chimeEngage: (BP.SINGLE, CM.MUTE),
+  AudibleAlert.chimeDisengage: (BP.SINGLE, CM.MUTE),
+  AudibleAlert.chimeError: (BP.MUTE, CM.DOUBLE),
+  AudibleAlert.chimePrompt: (BP.MUTE, CM.SINGLE),
+  AudibleAlert.chimeWarning1: (BP.MUTE, CM.DOUBLE),
+  AudibleAlert.chimeWarning2: (BP.MUTE, CM.REPEATED),
+  AudibleAlert.chimeWarningRepeat: (BP.MUTE, CM.REPEATED)}
+
 class AH:
  #[alert_idx, value]
  # See dbc files for info on values"
@@ -33,6 +47,15 @@ class AH:
  SEATBELT       = [5, 5]
  SPEED_TOO_HIGH = [6, 8]

+VISUAL_HUD = {
+  VisualAlert.none: AH.NONE,
+  VisualAlert.fcw: AH.FCW,
+  VisualAlert.steerRequired: AH.STEER,
+  VisualAlert.brakePressed: AH.BRAKE_PRESSED,
+  VisualAlert.wrongGear: AH.GEAR_NOT_D,
+  VisualAlert.seatbeltUnbuckled: AH.SEATBELT,
+  VisualAlert.speedTooHigh: AH.SPEED_TOO_HIGH}
+
 class CAR:
  ACCORD = "HONDA ACCORD 2018 SPORT 2T"
  ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
@@ -90,7 +113,7 @@ FINGERPRINTS = {
    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
  }],
  CAR.PILOT_2019: [{
-    57: 3, 145: 8, 228: 5, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 983: 8, 985: 3, 1029: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
+    57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1039: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
  }],
  # Ridgeline w/ Added Comma Pedal Support (512L & 513L)
  CAR.RIDGELINE: [{
@@ -146,18 +169,5 @@ SPEED_FACTOR = {
  CAR.RIDGELINE: 1.,
 }

-# This message sends car info to the radar that is specific to the model. You
-# can determine this message by monitoring the OEM system.
-VEHICLE_STATE_MSG = {
-  CAR.ACURA_ILX: "\x0f\x18\x51\x02\x5a\x00\x00",
-  CAR.ACURA_RDX: "\x0f\x57\x4f\x02\x5a\x00\x00",
-  CAR.CIVIC: "\x02\x38\x44\x32\x4f\x00\x00",
-  CAR.CRV: "\x00\x00\x50\x02\x51\x00\x00",
-  CAR.ODYSSEY: "\x00\x00\x56\x02\x55\x00\x00",
-  CAR.PILOT: "\x00\x00\x56\x02\x58\x00\x00",
-  CAR.PILOT_2019: "\x00\x00\x58\x02\x5c\x00\x00",
-  CAR.RIDGELINE: "\x00\x00\x56\x02\x57\x00\x00",
-}
-
 # TODO: get these from dbc file
 HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -44,6 +44,11 @@ def get_can_parser(CP):
    ("CF_Clu_AmpInfo", "CLU11", 0),
    ("CF_Clu_AliveCnt1", "CLU11", 0),

+    ("CF_Clu_InhibitD", "CLU15", 0),
+    ("CF_Clu_InhibitP", "CLU15", 0),
+    ("CF_Clu_InhibitN", "CLU15", 0),
+    ("CF_Clu_InhibitR", "CLU15", 0),
+
    ("CF_Lvr_Gear","LVR12",0),

    ("ACCEnable", "TCS13", 0),
@@ -204,7 +209,7 @@ class CarState(object):
      self.pedal_gas = cp.vl["EMS12"]['TPS']
    self.car_gas = cp.vl["EMS12"]['TPS']

-    # Gear Selecton - This should be compatible with all Kia/Hyundai with Auto's
+    # Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
    gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
    if gear == 5:
      self.gear_shifter = "drive"
@@ -217,6 +222,18 @@ class CarState(object):
    else:
      self.gear_shifter = "unknown"

+    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
+    if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
+      self.gear_shifter_cluster = "drive"
+    elif cp.vl["CLU15"]["CF_Clu_InhibitN"] == 1:
+      self.gear_shifter_cluster = "neutral"
+    elif cp.vl["CLU15"]["CF_Clu_InhibitP"] == 1:
+      self.gear_shifter_cluster = "park"
+    elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
+      self.gear_shifter_cluster = "reverse"
+    else:
+      self.gear_shifter_cluster = "unknown"
+
    # save the entire LKAS11 and CLU11
    self.lkas11 = cp_cam.vl["LKAS11"]
    self.clu11 = cp.vl["CLU11"]
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -95,14 +95,15 @@ class CarInterface(object):
      ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
      ret.minSteerSpeed = 0.
    elif candidate == CAR.ELANTRA:
-      ret.steerKf = 0.00004
+      ret.steerKf = 0.00006
      ret.steerRateCost = 0.5
      ret.mass = 1275 + std_cargo
      ret.wheelbase = 2.7
-      ret.steerRatio = 16.9
+      ret.steerRatio = 13.73   #Spec
+      tire_stiffness_factor = 0.385
      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
-      ret.steerKpV, ret.steerKiV = [[0.20], [0.01]]
-      ret.minSteerSpeed = 35 * CV.MPH_TO_MS
+      ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
+      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
    elif candidate == CAR.GENESIS:
      ret.steerKf = 0.00005
      ret.steerRateCost = 0.5
@@ -190,7 +191,10 @@ class CarInterface(object):
    ret.wheelSpeeds.rr = self.CS.v_wheel_rr

    # gear shifter
-    ret.gearShifter = self.CS.gear_shifter
+    if self.CP.carFingerprint == CAR.ELANTRA:
+      ret.gearShifter = self.CS.gear_shifter_cluster
+    else:
+      ret.gearShifter = self.CS.gear_shifter

    # gas pedal
    ret.gas = self.CS.car_gas
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,8 +1,12 @@
+from cereal import car
 from selfdrive.car import dbc_dict

-def get_hud_alerts(visual_alert, audble_alert):
-  if visual_alert == "steerRequired":
-    return 4 if audble_alert != "none" else 5
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+def get_hud_alerts(visual_alert, audible_alert):
+  if visual_alert == VisualAlert.steerRequired:
+    return 4 if audible_alert != AudibleAlert.none else 5
  else:
    return 0

@@ -27,7 +31,7 @@ FINGERPRINTS = {
    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
  }],
  CAR.GENESIS: [{
-    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
+    67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
  }],
  CAR.KIA_SORENTO: [{
    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,12 +1,16 @@
+from cereal import car
 from common.numpy_fast import clip, interp
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                           create_steer_command, create_ui_command, \
                                           create_ipas_steer_command, create_accel_command, \
                                           create_fcw_command
-from selfdrive.car.toyota.values import ECU, STATIC_MSGS, NO_DSU_CAR
+from selfdrive.car.toyota.values import ECU, STATIC_MSGS
 from selfdrive.can.packer import CANPacker

+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
 # Accel limits
 ACCEL_HYST_GAP = 0.02  # don't change accel command for small oscilalitons within this value
 ACCEL_MAX = 1.5  # 1.5 m/s2
@@ -54,14 +58,14 @@ def process_hud_alert(hud_alert, audible_alert):
  sound1 = 0
  sound2 = 0

-  if hud_alert == 'fcw':
+  if hud_alert == VisualAlert.fcw:
    fcw = 1
-  elif hud_alert == 'steerRequired':
+  elif hud_alert == VisualAlert.steerRequired:
    steer = 1

-  if audible_alert == 'chimeRepeated':
+  if audible_alert == AudibleAlert.chimeWarningRepeat:
    sound1 = 1
-  elif audible_alert in ['beepSingle', 'chimeSingle', 'chimeDouble']:
+  elif audible_alert != AudibleAlert.none:
    # TODO: find a way to send single chimes
    sound2 = 1

@@ -108,6 +112,7 @@ class CarController(object):

    self.steer_angle_enabled = False
    self.ipas_reset_counter = 0
+    self.last_fault_frame = -200

    self.fake_ecus = set()
    if enable_camera: self.fake_ecus.add(ECU.CAM)
@@ -117,7 +122,7 @@ class CarController(object):
    self.packer = CANPacker(dbc_name)

  def update(self, sendcan, enabled, CS, frame, actuators,
-             pcm_cancel_cmd, hud_alert, audible_alert):
+             pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera):

    # *** compute control surfaces ***

@@ -143,7 +148,11 @@ class CarController(object):
    # dropping torque immediately might cause eps to temp fault. On the other hand, safety_toyota
    # cuts steer torque immediately anyway TODO: monitor if this is a real issue
    # only cut torque when steer state is a known fault
-    if not enabled or CS.steer_state in [9, 25]:
+    if CS.steer_state in [9, 25]:
+      self.last_fault_frame = frame
+
+    # Cut steering for 2s after fault
+    if not enabled or (frame - self.last_fault_frame < 200):
      apply_steer = 0
      apply_steer_req = 0
    else:
@@ -212,7 +221,7 @@ class CarController(object):
      else:
        can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False))

-    if frame % 10 == 0 and ECU.CAM in self.fake_ecus and self.car_fingerprint not in NO_DSU_CAR:
+    if frame % 10 == 0 and ECU.CAM in self.fake_ecus and not forwarding_camera:
      for addr in TARGET_IDS:
        can_sends.append(create_video_target(frame/10, addr))

@@ -231,12 +240,14 @@ class CarController(object):

    if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
      can_sends.append(create_ui_command(self.packer, steer, sound1, sound2))
+
+    if frame % 100 == 0 and ECU.DSU in self.fake_ecus:
      can_sends.append(create_fcw_command(self.packer, fcw))

    #*** static msgs ***

    for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
-      if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars:
+      if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars and not (ecu == ECU.CAM and forwarding_camera):
        # special cases
        if fr_step == 5 and ecu == ECU.CAM and bus == 1:
          cnt = (((frame / 5) % 7) + 1) << 5
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -35,6 +35,7 @@ def get_can_parser(CP):
    ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
    ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
    ("GAS_RELEASED", "PCM_CRUISE", 0),
+    ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
    ("CRUISE_STATE", "PCM_CRUISE", 0),
    ("MAIN_ON", "PCM_CRUISE_2", 0),
    ("SET_SPEED", "PCM_CRUISE_2", 0),
@@ -65,6 +66,16 @@ def get_can_parser(CP):
  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)


+def get_cam_can_parser(CP):
+
+  signals = []
+
+  # use steering message to check if panda is connected to frc
+  checks = [("STEERING_LKA", 42)]
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+
+
 class CarState(object):
  def __init__(self, CP):

@@ -87,9 +98,10 @@ class CarState(object):
                         K=np.matrix([[0.12287673], [0.29666309]]))
    self.v_ego = 0.0

-  def update(self, cp):
+  def update(self, cp, cp_cam):
    # copy can_valid
    self.can_valid = cp.can_valid
+    self.cam_can_valid = cp_cam.can_valid

    # update prevs, update must run once per loop
    self.prev_left_blinker_on = self.left_blinker_on
@@ -142,6 +154,7 @@ class CarState(object):
    self.user_brake = 0
    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
    self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
    self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -4,7 +4,7 @@ from cereal import car, log
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.toyota.carstate import CarState, get_can_parser
+from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR
 from selfdrive.swaglog import cloudlog

@@ -23,12 +23,16 @@ class CarInterface(object):
    self.gas_pressed_prev = False
    self.brake_pressed_prev = False
    self.can_invalid_count = 0
+    self.cam_can_valid_count = 0
    self.cruise_enabled_prev = False

    # *** init the major players ***
    self.CS = CarState(CP)

    self.cp = get_can_parser(CP)
+    self.cp_cam = get_cam_can_parser(CP)
+
+    self.forwarding_camera = False

    # sending if read only is False
    if sendcan is not None:
@@ -204,7 +208,11 @@ class CarInterface(object):

    self.cp.update(int(sec_since_boot() * 1e9), False)

-    self.CS.update(self.cp)
+    # run the cam can update for 10s as we just need to know if the camera is alive
+    if self.frame < 1000:
+      self.cp_cam.update(int(sec_since_boot() * 1e9), False)
+
+    self.CS.update(self.cp, self.cp_cam)

    # create message
    ret = car.CarState.new_message()
@@ -240,7 +248,7 @@ class CarInterface(object):
    ret.steeringPressed = self.CS.steer_override

    # cruise state
-    ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
+    ret.cruiseState.enabled = self.CS.pcm_acc_active
    ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
    ret.cruiseState.available = bool(self.CS.main_on)
    ret.cruiseState.speedOffset = 0.
@@ -281,6 +289,12 @@ class CarInterface(object):
        events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
    else:
      self.can_invalid_count = 0
+
+    if self.CS.cam_can_valid:
+      self.cam_can_valid_count += 1
+      if self.cam_can_valid_count >= 5:
+        self.forwarding_camera = True
+
    if not ret.gearShifter == 'drive' and self.CP.enableDsu:
      events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
    if ret.doorOpen:
@@ -335,7 +349,7 @@ class CarInterface(object):

    self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
                   c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
-                   c.hudControl.audibleAlert)
+                   c.hudControl.audibleAlert, self.forwarding_camera)

    self.frame += 1
    return False
--- a/selfdrive/car/toyota/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@@ -10,24 +10,30 @@ import selfdrive.messaging as messaging
 from selfdrive.car.toyota.values import NO_DSU_CAR


-RADAR_MSGS = list(range(0x210, 0x220))
+RADAR_A_MSGS = list(range(0x210, 0x220))
+RADAR_B_MSGS = list(range(0x220, 0x230))

 def _create_radard_can_parser():
  dbc_f = 'toyota_prius_2017_adas.dbc'
-  msg_n = len(RADAR_MSGS)
-  signals = zip(['LONG_DIST'] * msg_n + ['NEW_TRACK'] * msg_n + ['LAT_DIST'] * msg_n +
-                ['REL_SPEED'] * msg_n + ['VALID'] * msg_n,
-                RADAR_MSGS * 5,
-                [255] * msg_n + [1] * msg_n + [0] * msg_n + [0] * msg_n + [0] * msg_n)
-  checks = zip(RADAR_MSGS, [20]*msg_n)
+
+  msg_a_n = len(RADAR_A_MSGS)
+  msg_b_n = len(RADAR_B_MSGS)
+
+  signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
+                ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
+                RADAR_A_MSGS * 5 + RADAR_B_MSGS,
+                [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
+
+  checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))

  return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)

+
 class RadarInterface(object):
  def __init__(self, CP):
    # radar
    self.pts = {}
-    self.validCnt = {key: 0 for key in RADAR_MSGS}
+    self.valid_cnt = {key: 0 for key in RADAR_A_MSGS}
    self.track_id = 0

    self.delay = 0.0  # Delay of radar
@@ -51,8 +57,7 @@ class RadarInterface(object):
    while 1:
      tm = int(sec_since_boot() * 1e9)
      updated_messages.update(self.rcp.update(tm, True))
-      # TODO: do not hardcode last msg
-      if 0x21f in updated_messages:
+      if RADAR_B_MSGS[-1] in updated_messages:
        break

    errors = []
@@ -62,32 +67,34 @@ class RadarInterface(object):
    ret.canMonoTimes = canMonoTimes

    for ii in updated_messages:
-      cpt = self.rcp.vl[ii]
+      if ii in RADAR_A_MSGS:
+        cpt = self.rcp.vl[ii]

-      if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
-        self.validCnt[ii] = 0    # reset counter
+        if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
+          self.valid_cnt[ii] = 0    # reset counter
+        if cpt['VALID'] and cpt['LONG_DIST'] < 255:
+          self.valid_cnt[ii] += 1
+        else:
+          self.valid_cnt[ii] = max(self.valid_cnt[ii] -1, 0)

-      if cpt['VALID'] and cpt['LONG_DIST'] < 255:
-        self.validCnt[ii] += 1
-      else:
-        self.validCnt[ii] = max(self.validCnt[ii] -1, 0)
-      #print ii, self.validCnt[ii], cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
+        score = self.rcp.vl[ii+16]['SCORE']
+        # print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']

-      # radar point only valid if there have been enough valid measurements
-      if self.validCnt[ii] > 0:
-        if ii not in self.pts or cpt['NEW_TRACK']:
-          self.pts[ii] = car.RadarState.RadarPoint.new_message()
-          self.pts[ii].trackId = self.track_id
-          self.track_id += 1
-        self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
-        self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
-        self.pts[ii].vRel = cpt['REL_SPEED']
-        self.pts[ii].aRel = float('nan')
-        self.pts[ii].yvRel = float('nan')
-        self.pts[ii].measured = bool(cpt['VALID'])
-      else:
-        if ii in self.pts:
-          del self.pts[ii]
+        # radar point only valid if it's a valid measurement and score is above 50
+        if cpt['VALID'] or (score > 50 and cpt['LONG_DIST'] < 255 and self.valid_cnt[ii] > 0):
+          if ii not in self.pts or cpt['NEW_TRACK']:
+            self.pts[ii] = car.RadarState.RadarPoint.new_message()
+            self.pts[ii].trackId = self.track_id
+            self.track_id += 1
+          self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
+          self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
+          self.pts[ii].vRel = cpt['REL_SPEED']
+          self.pts[ii].aRel = float('nan')
+          self.pts[ii].yvRel = float('nan')
+          self.pts[ii].measured = bool(cpt['VALID'])
+        else:
+          if ii in self.pts:
+            del self.pts[ii]

    ret.points = self.pts.values()
    return ret
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -65,7 +65,7 @@ def create_steer_command(packer, steer, steer_req, raw_cnt):


 def create_accel_command(packer, accel, pcm_cancel, standstill_req):
-  # TODO: find the exact canceling bit
+  # TODO: find the exact canceling bit that does not create a chime
  values = {
    "ACCEL_CMD": accel,
    "SET_ME_X63": 0x63,
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -52,8 +52,8 @@ STATIC_MSGS = [
  (0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
  (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x4d\x82\x40\x02\x00'),
  (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
-  (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1,  100, '\x00\x00\x01\x79'),
+  (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
+  (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H), 1,  100, '\x00\x00\x01\x79'),
  (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),

  (0x292, ECU.APGS, (CAR.PRIUS), 0,   3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
@@ -83,6 +83,10 @@ FINGERPRINTS = {
  }],
  CAR.RAV4H: [{
    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  # Chinese RAV4
+  {
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 742: 8, 743: 8, 800: 8, 830: 7, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1207: 8, 1227: 8, 1235: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8
  }],
  CAR.PRIUS: [{
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
--- a/selfdrive/common/touch.c
+++ b/selfdrive/common/touch.c
@@ -24,15 +24,14 @@ static int find_dev() {
    int fd = openat(dirfd(dir), de->d_name, O_RDONLY);
    assert(fd >= 0);

-    char name[128] = {0};
-    err = ioctl(fd, EVIOCGNAME(sizeof(name) - 1), &name);
+    unsigned char ev_bits[KEY_MAX / 8 + 1];
+    err = ioctl(fd, EVIOCGBIT(EV_ABS, sizeof(ev_bits)), ev_bits);
    assert(err >= 0);

-    unsigned long ev_bits[8] = {0};
-    err = ioctl(fd, EVIOCGBIT(0, sizeof(ev_bits)), ev_bits);
-    assert(err >= 0);
-
-    if (strncmp(name, "synaptics", 9) == 0 && ev_bits[0] == 0xb) {
+    const int x_key = ABS_MT_POSITION_X / 8;
+    const int y_key = ABS_MT_POSITION_Y / 8;
+    if ((ev_bits[x_key] & (ABS_MT_POSITION_X - x_key)) &&
+        (ev_bits[y_key] & (ABS_MT_POSITION_Y - y_key))) {
      ret = fd;
      break;
    }
@@ -77,12 +76,7 @@ int touch_poll(TouchState *s, int* out_x, int* out_y, int timeout) {
      } else if (event.code == ABS_MT_POSITION_Y) {
        s->last_y = event.value;
      }
-      break;
-    case EV_KEY:
-      if (event.code == BTN_TOOL_FINGER && event.value == 0) {
-        // finger up
-        up = true;
-      }
+      up = true;
      break;
    default:
      break;
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.5.4-release"
+#define COMMA_VERSION "0.5.6-release"
--- a/selfdrive/config.py
+++ b/selfdrive/config.py
@@ -19,28 +19,6 @@ class Conversions:

 RADAR_TO_CENTER = 2.7   # RADAR is ~ 2.7m ahead from center of car

-# Image params for color cam on acura, calibrated on pre las vegas drive (2016-05-21)
-class ImageParams:
-  def __init__(self):
-    self.SX_R  = 160  # top left corner pixel shift of the visual region considered by the model
-    self.SY_R  = 180  # top left corner pixel shift of the visual region considered by the model
-    self.VPX_R = 319  # vanishing point reference, as calibrated in Vegas drive 
-    self.VPY_R = 201  # vanishing point reference, as calibrated in Vegas drive 
-    self.X     = 320  # pixel length of image for model
-    self.Y     = 160  # pixel length of image for model
-    self.SX  = self.SX_R   # current visual region with shift
-    self.SY  = self.SY_R   # current visual region with shift
-    self.VPX = self.VPX_R  # current vanishing point with shift
-    self.VPY = self.VPY_R  # current vanishing point with shift
-  def shift(self, shift):
-    def to_int(fl):
-      return int(round(fl))
-    # shift comes from calibration and says how much to shift the viual region 
-    self.SX  = self.SX_R + to_int(shift[0])   # current visual region with shift
-    self.SY  = self.SY_R + to_int(shift[1])   # current visual region with shift
-    self.VPX = self.VPX_R + to_int(shift[0])  # current vanishing point with shift
-    self.VPY = self.VPY_R + to_int(shift[1])  # current vanishing point with shift
-
 class UIParams:
  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
  lidar_car_x, lidar_car_y = lidar_x/2., lidar_y/1.1
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,12 +1,14 @@
 #!/usr/bin/env python
 import gc
-import json
 import zmq
+import json
+
 from cereal import car, log
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
 from common.profiler import Profiler
 from common.params import Params
+
 import selfdrive.messaging as messaging
 from selfdrive.config import Conversions as CV
 from selfdrive.services import service_list
@@ -17,8 +19,7 @@ from selfdrive.controls.lib.drive_helpers import learn_angle_offset, \
                                                 create_event, \
                                                 EventTypes as ET, \
                                                 update_v_cruise, \
-                                                 initialize_v_cruise, \
-                                                 kill_defaultd
+                                                 initialize_v_cruise
 from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
 from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.alertmanager import AlertManager
@@ -35,25 +36,27 @@ class Calibration:
  INVALID = 2


-# True when actuators are controlled
 def isActive(state):
+  """Check if the actuators are enabled"""
  return state in [State.enabled, State.softDisabling]


-# True if system is engaged
 def isEnabled(state):
+  """Check if openpilot is engaged"""
  return (isActive(state) or state == State.preEnabled)


 def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_location,
                poller, cal_status, cal_perc, overtemp, free_space, low_battery,
                driver_status, geofence, state, mismatch_counter, params):
+  """Receive data from sockets and create events for battery, temperature and disk space"""

-  # *** read can and compute car states ***
+  # Update carstate from CAN and create events
  CS = CI.update(CC)
  events = list(CS.events)
  enabled = isEnabled(state)

+  # Receive from sockets
  td = None
  cal = None
  hh = None
@@ -72,27 +75,20 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
    elif socket is gps_location:
      gps = messaging.recv_one(socket)

-  # *** thermal checking logic ***
-  # thermal data, checked every second
  if td is not None:
    overtemp = td.thermal.thermalStatus >= ThermalStatus.red
+    free_space = td.thermal.freeSpace < 0.15  # under 15% of space free no enable allowed
+    low_battery = td.thermal.batteryPercent < 1  # at zero percent battery, OP should not be allowed

-    # under 15% of space free no enable allowed
-    free_space = td.thermal.freeSpace < 0.15
-
-    # at zero percent battery, OP should not be allowed
-    low_battery = td.thermal.batteryPercent < 1
-
+  # Create events for battery, temperature and disk space
  if low_battery:
    events.append(create_event('lowBattery', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-
  if overtemp:
    events.append(create_event('overheat', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-
  if free_space:
    events.append(create_event('outOfSpace', [ET.NO_ENTRY]))

-  # *** read calibration status ***
+  # Handle calibration
  if cal is not None:
    cal_status = cal.liveCalibration.calStatus
    cal_perc = cal.liveCalibration.calPerc
@@ -103,24 +99,27 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
    else:
      events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

+  # When the panda and controlsd do not agree on controls_allowed
+  # we want to disengage openpilot. However the status from the panda goes through
+  # another socket than the CAN messages, therefore one can arrive earlier than the other.
+  # Therefore we allow a mismatch for two samples, then we trigger the disengagement.
  if not enabled:
    mismatch_counter = 0

-  # *** health checking logic ***
  if hh is not None:
    controls_allowed = hh.health.controlsAllowed
    if not controls_allowed and enabled:
      mismatch_counter += 1
-
    if mismatch_counter >= 2:
      events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))

+  # Driver monitoring
  if dm is not None:
    driver_status.get_pose(dm.driverMonitoring, params)

+  # Geofence
  if geofence is not None and gps is not None:
    geofence.update_geofence_status(gps.gpsLocationExternal, params)
-
  if geofence is not None and not geofence.in_geofence:
    events.append(create_event('geofence', [ET.NO_ENTRY, ET.WARNING]))

@@ -128,25 +127,26 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati


 def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
-   # plan runs always, independently of the state
-   force_decel = driver_status.awareness < 0. or (geofence is not None and not geofence.in_geofence)
-   plan_packet = PL.update(CS, LaC, LoC, v_cruise_kph, force_decel)
-   plan = plan_packet.plan
-   plan_ts = plan_packet.logMonoTime
+  """Calculate a longitudinal plan using MPC"""

-   # add events from planner
-   events += list(plan.events)
+  # Slow down when based on driver monitoring or geofence
+  force_decel = driver_status.awareness < 0. or (geofence is not None and not geofence.in_geofence)

-   # disable if lead isn't close when system is active and brake is pressed to avoid
-   # unexpected vehicle accelerations
-   if CS.brakePressed and plan.vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
-     events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+  # Update planner
+  plan_packet = PL.update(CS, LaC, LoC, v_cruise_kph, force_decel)
+  plan = plan_packet.plan
+  plan_ts = plan_packet.logMonoTime
+  events += list(plan.events)

-   return plan, plan_ts
+  # Only allow engagement with brake pressed when stopped behind another stopped car
+  if CS.brakePressed and plan.vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
+    events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+
+  return plan, plan_ts


 def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM):
-  # compute conditional state transitions and execute actions on state transitions
+  """Compute conditional state transitions and execute actions on state transitions"""
  enabled = isEnabled(state)

  v_cruise_kph_last = v_cruise_kph
@@ -161,8 +161,6 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
  # entrance in SOFT_DISABLING state
  soft_disable_timer = max(0, soft_disable_timer - 1)

-  # ***** handle state transitions *****
-
  # DISABLED
  if state == State.disabled:
    if get_events(events, [ET.ENABLE]):
@@ -191,7 +189,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM

    elif get_events(events, [ET.SOFT_DISABLE]):
      state = State.softDisabling
-      soft_disable_timer = 300   # 3s TODO: use rate
+      soft_disable_timer = 300   # 3s
      for e in get_events(events, [ET.SOFT_DISABLE]):
        AM.add(e, enabled)

@@ -210,6 +208,10 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
      # no more soft disabling condition, so go back to ENABLED
      state = State.enabled

+    elif get_events(events, [ET.SOFT_DISABLE]) and soft_disable_timer > 0:
+      for e in get_events(events, [ET.SOFT_DISABLE]):
+        AM.add(e, enabled)
+
    elif soft_disable_timer <= 0:
      state = State.disabled

@@ -232,9 +234,8 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM

 def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
                  driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc):
-  # Given the state, this function returns the actuators
+  """Given the state, this function returns an actuators packet"""

-  # reset actuators to zero
  actuators = car.CarControl.Actuators.new_message()

  enabled = isEnabled(state)
@@ -252,17 +253,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
  if plan.fcw:
    AM.add("fcw", enabled)

-  # ***** state specific actions *****
+  # State specific actions

-  # DISABLED
  if state in [State.preEnabled, State.disabled]:
-
    LaC.reset()
    LoC.reset(v_pid=CS.vEgo)

-  # ENABLED or SOFT_DISABLING
  elif state in [State.enabled, State.softDisabling]:
-
    # parse warnings from car specific interface
    for e in get_events(events, [ET.WARNING]):
      extra_text = ""
@@ -273,28 +270,25 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
          extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_MPH))) + " mph"
      AM.add(e, enabled, extra_text_2=extra_text)

-  # *** angle offset learning ***
-
+  # Run angle offset learner at 20 Hz
  if rk.frame % 5 == 2 and plan.lateralValid:
-    # *** run this at 20hz again ***
    angle_offset = learn_angle_offset(active, CS.vEgo, angle_offset,
                                      PL.PP.c_poly, PL.PP.c_prob, CS.steeringAngle,
                                      CS.steeringPressed)

-  # *** gas/brake PID loop ***
+  # Gas/Brake PID loop
  actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
                                              v_cruise_kph, plan.vTarget, plan.vTargetFuture, plan.aTarget,
                                              CP, PL.lead_1)
-
-  # *** steering PID loop ***
+  # Steering PID loop and lateral MPC
  actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle,
-                                                     CS.steeringPressed, plan.dPoly, angle_offset, VM, PL)
+                                                     CS.steeringPressed, plan.dPoly, angle_offset, CP, VM, PL)

-  # send a "steering required alert" if saturation count has reached the limit
+  # Send a "steering required alert" if saturation count has reached the limit
  if LaC.sat_flag and CP.steerLimitAlert:
    AM.add("steerSaturated", enabled)

-  # parse permanent warnings to display constantly
+  # Parse permanent warnings to display constantly
  for e in get_events(events, [ET.PERMANENT]):
    extra_text_1, extra_text_2 = "", ""
    if e == "calibrationIncomplete":
@@ -302,7 +296,6 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
      extra_text_2 = "35 kph" if is_metric else "15 mph"
    AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)

-  # *** process alerts ***
  AM.process_alerts(sec_since_boot())

  return actuators, v_cruise_kph, driver_status, angle_offset
@@ -311,23 +304,19 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
 def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
              carcontrol, live100, livempc, AM, driver_status,
              LaC, LoC, angle_offset, passive):
-
-  # ***** control the car *****
+  """Send actuators and hud commands to the car, send live100 and MPC logging"""

  CC = car.CarControl.new_message()

  if not passive:
-
    CC.enabled = isEnabled(state)
-
    CC.actuators = actuators

    CC.cruiseControl.override = True
-    # always cancel if we have an interceptor
    CC.cruiseControl.cancel = not CP.enableCruise or (not isEnabled(state) and CS.cruiseState.enabled)

-    # brake discount removes a sharp nonlinearity
-    brake_discount = (1.0 - clip(actuators.brake*3., 0.0, 1.0))
+    # Some override values for Honda
+    brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))  # brake discount removes a sharp nonlinearity
    CC.cruiseControl.speedOverride = float(max(0.0, (LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount) if CP.enableCruise else 0.0)
    CC.cruiseControl.accelOverride = CI.calc_accel_override(CS.aEgo, plan.aTarget, CS.vEgo, plan.vTarget)

@@ -341,17 +330,17 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
    # send car controls over can
    CI.apply(CC, perception_state)

-  # ***** publish state to logger *****
-  # publish controls state at 100Hz
+  # live100
  dat = messaging.new_message()
  dat.init('live100')
-
  dat.live100 = {
    "alertText1": AM.alert_text_1,
    "alertText2": AM.alert_text_2,
    "alertSize": AM.alert_size,
    "alertStatus": AM.alert_status,
    "alertBlinkingRate": AM.alert_rate,
+    "alertType": AM.alert_type,
+    "alertSound": "",  # no EON sounds yet
    "awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
    "driverMonitoringOn": bool(driver_status.monitor_on),
    "canMonoTimes": list(CS.canMonoTimes),
@@ -380,24 +369,24 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
    "jerkFactor": float(plan.jerkFactor),
    "angleOffset": float(angle_offset),
    "gpsPlannerActive": plan.gpsPlannerActive,
-    "cumLagMs": -rk.remaining*1000.,
+    "cumLagMs": -rk.remaining * 1000.,
  }
  live100.send(dat.to_bytes())

-  # broadcast carState
+  # carState
  cs_send = messaging.new_message()
  cs_send.init('carState')
  cs_send.carState = CS
  cs_send.carState.events = events
  carstate.send(cs_send.to_bytes())

-  # broadcast carControl
+  # carControl
  cc_send = messaging.new_message()
  cc_send.init('carControl')
  cc_send.carControl = CC
  carcontrol.send(cc_send.to_bytes())

-  # publish mpc state at 20Hz
+  # send MPC when updated (20 Hz)
  if hasattr(LaC, 'mpc_updated') and LaC.mpc_updated:
    dat = messaging.new_message()
    dat.init('liveMpc')
@@ -420,7 +409,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
  context = zmq.Context()
  params = Params()

-  # pub
+  # Pub Sockets
  live100 = messaging.pub_sock(context, service_list['live100'].port)
  carstate = messaging.pub_sock(context, service_list['carState'].port)
  carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
@@ -428,28 +417,23 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):

  is_metric = params.get("IsMetric") == "1"
  passive = params.get("Passive") != "0"
+
+  # No sendcan if passive
  if not passive:
-    while 1:
-      try:
-        sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
-        break
-      except zmq.error.ZMQError:
-        kill_defaultd()
+    sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
  else:
    sendcan = None

-  # sub
+  # Sub sockets
  poller = zmq.Poller()
  thermal = messaging.sub_sock(context, service_list['thermal'].port, conflate=True, poller=poller)
  health = messaging.sub_sock(context, service_list['health'].port, conflate=True, poller=poller)
  cal = messaging.sub_sock(context, service_list['liveCalibration'].port, conflate=True, poller=poller)
  driver_monitor = messaging.sub_sock(context, service_list['driverMonitoring'].port, conflate=True, poller=poller)
  gps_location = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, conflate=True, poller=poller)
-
  logcan = messaging.sub_sock(context, service_list['can'].port)

  CC = car.CarControl.new_message()
-
  CI, CP = get_car(logcan, sendcan, 1.0 if passive else None)

  if CI is None:
@@ -463,20 +447,21 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
  if passive:
    CP.safetyModel = car.CarParams.SafetyModels.noOutput

+  # Get FCW toggle from settings
  fcw_enabled = params.get("IsFcwEnabled") == "1"
  geofence = None

  PL = Planner(CP, fcw_enabled)
  LoC = LongControl(CP, CI.compute_gb)
  VM = VehicleModel(CP)
-  LaC = LatControl(VM)
+  LaC = LatControl(CP)
  AM = AlertManager()
  driver_status = DriverStatus()

  if not passive:
    AM.add("startup", False)

-  # write CarParams
+  # Write CarParams for radard and boardd safety mode
  params.put("CarParams", CP.to_bytes())

  state = State.disabled
@@ -490,9 +475,9 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
  mismatch_counter = 0
  low_battery = False

-  rk = Ratekeeper(rate, print_delay_threshold=2./1000)
+  rk = Ratekeeper(rate, print_delay_threshold=2. / 1000)

-  # learned angle offset
+  # Read angle offset from previous drive, fallback to default
  angle_offset = default_bias
  calibration_params = params.get("CalibrationParams")
  if calibration_params:
@@ -504,16 +489,15 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):

  prof = Profiler(False)  # off by default

-  while 1:
-
+  while True:
    prof.checkpoint("Ratekeeper", ignore=True)

-    # sample data and compute car events
+    # Sample data and compute car events
    CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
      driver_monitor, gps_location, poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status, geofence, state, mismatch_counter, params)
    prof.checkpoint("Sample")

-    # define plan
+    # Define longitudinal plan (MPC)
    plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence)
    prof.checkpoint("Plan")

@@ -523,24 +507,23 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
        state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
      prof.checkpoint("State transition")

-    # compute actuators
+    # Compute actuators (runs PID loops and lateral MPC)
    actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
      v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
    prof.checkpoint("State Control")

-    # publish data
+    # Publish data
    CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
      live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
    prof.checkpoint("Sent")

-    # *** run loop at fixed rate ***
-    rk.keep_time()
-
+    rk.keep_time()  # Run at 100Hz
    prof.display()


 def main(gctx=None):
  controlsd_thread(gctx, 100)

+
 if __name__ == "__main__":
  main()
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -1,538 +1,19 @@
-from cereal import car, log
+from cereal import log
 from selfdrive.swaglog import cloudlog
+from selfdrive.controls.lib.alerts import ALERTS
 from common.realtime import sec_since_boot
 import copy


-# Priority
-class Priority:
-  LOWEST = 0
-  LOW_LOWEST = 1
-  LOW = 2
-  MID = 3
-  HIGH = 4
-  HIGHEST = 5
-
 AlertSize = log.Live100Data.AlertSize
 AlertStatus = log.Live100Data.AlertStatus

-class Alert(object):
-  def __init__(self,
-               alert_text_1,
-               alert_text_2,
-               alert_status,
-               alert_size,
-               alert_priority,
-               visual_alert,
-               audible_alert,
-               duration_sound,
-               duration_hud_alert,
-               duration_text,
-               alert_rate=0.):
-
-    self.alert_text_1 = alert_text_1
-    self.alert_text_2 = alert_text_2
-    self.alert_status = alert_status
-    self.alert_size = alert_size
-    self.alert_priority = alert_priority
-    self.visual_alert = visual_alert if visual_alert is not None else "none"
-    self.audible_alert = audible_alert if audible_alert is not None else "none"
-
-    self.duration_sound = duration_sound
-    self.duration_hud_alert = duration_hud_alert
-    self.duration_text = duration_text
-
-    self.start_time = 0.
-    self.alert_rate = alert_rate
-
-    # typecheck that enums are valid on startup
-    tst = car.CarControl.new_message()
-    tst.hudControl.visualAlert = self.visual_alert
-    tst.hudControl.audibleAlert = self.audible_alert
-
-  def __str__(self):
-    return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_priority) + "  " + str(
-      self.visual_alert) + " " + str(self.audible_alert)
-
-  def __gt__(self, alert2):
-    return self.alert_priority > alert2.alert_priority
-

 class AlertManager(object):
-  alerts = {
-
-    # Miscellaneous alerts
-    "enable": Alert(
-        "",
-        "",
-        AlertStatus.normal, AlertSize.none,
-        Priority.MID, None, "beepSingle", .2, 0., 0.),
-
-    "disable": Alert(
-        "",
-        "",
-        AlertStatus.normal, AlertSize.none,
-        Priority.MID, None, "beepSingle", .2, 0., 0.),
-
-    "fcw": Alert(
-        "BRAKE!",
-        "Risk of Collision",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "fcw", "chimeRepeated", 1., 2., 2.),
-
-    "steerSaturated": Alert(
-        "TAKE CONTROL",
-        "Turn Exceeds Steering Limit",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, "steerRequired", "chimeSingle", 1., 2., 3.),
-
-    "steerTempUnavailable": Alert(
-        "TAKE CONTROL",
-        "Steering Temporarily Unavailable",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, "steerRequired", "chimeDouble", .4, 2., 3.),
-
-    "steerTempUnavailableMute": Alert(
-        "TAKE CONTROL",
-        "Steering Temporarily Unavailable",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, None, None, .2, .2, .2),
-
-    "preDriverDistracted": Alert(
-        "KEEP EYES ON ROAD: User Appears Distracted",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
-
-    "promptDriverDistracted": Alert(
-        "KEEP EYES ON ROAD",
-        "User Appears Distracted",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "driverDistracted": Alert(
-        "DISENGAGE IMMEDIATELY",
-        "User Was Distracted",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "preDriverUnresponsive": Alert(
-        "TOUCH STEERING WHEEL: No Driver Monitoring",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
-
-    "promptDriverUnresponsive": Alert(
-        "TOUCH STEERING WHEEL",
-        "User Is Unresponsive",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "driverUnresponsive": Alert(
-        "DISENGAGE IMMEDIATELY",
-        "User Was Unresponsive",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "driverMonitorOff": Alert(
-        "DRIVER MONITOR IS UNAVAILABLE",
-        "Accuracy Is Low",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, None, .4, 0., 4.),
-
-    "driverMonitorOn": Alert(
-        "DRIVER MONITOR IS AVAILABLE",
-        "Accuracy Is High",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, None, .4, 0., 4.),
-
-    "geofence": Alert(
-        "DISENGAGEMENT REQUIRED",
-        "Not in Geofenced Area",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
-
-    "startup": Alert(
-        "Be ready to take over at any time",
-        "Always keep hands on wheel and eyes on road",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW_LOWEST, None, None, 0., 0., 15.),
-
-    "ethicalDilemma": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Ethical Dilemma Detected",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "steerTempUnavailableNoEntry": Alert(
-        "openpilot Unavailable",
-        "Steering Temporarily Unavailable",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 0., 3.),
-
-    "manualRestart": Alert(
-        "TAKE CONTROL",
-        "Resume Driving Manually",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, None, None, 0., 0., .2),
-
-    "resumeRequired": Alert(
-        "STOPPED",
-        "Press Resume to Move",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, None, None, 0., 0., .2),
-
-    "belowSteerSpeed": Alert(
-        "TAKE CONTROL",
-        "Steer Unavailable Below ",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.MID, "steerRequired", None, 0., 0., .1),
-
-    "debugAlert": Alert(
-        "DEBUG ALERT",
-        "",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, None, None, .1, .1, .1),
-
-    # Non-entry only alerts
-    "wrongCarModeNoEntry": Alert(
-        "openpilot Unavailable",
-        "Main Switch Off",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 0., 3.),
-
-    "dataNeededNoEntry": Alert(
-        "openpilot Unavailable",
-        "Data Needed for Calibration. Upload Drive, Try Again",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 0., 3.),
-
-    "outOfSpaceNoEntry": Alert(
-        "openpilot Unavailable",
-        "Out of Storage Space",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 0., 3.),
-
-    "pedalPressedNoEntry": Alert(
-        "openpilot Unavailable",
-        "Pedal Pressed During Attempt",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, "brakePressed", "chimeDouble", .4, 2., 3.),
-
-    "speedTooLowNoEntry": Alert(
-        "openpilot Unavailable",
-        "Speed Too Low",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "brakeHoldNoEntry": Alert(
-        "openpilot Unavailable",
-        "Brake Hold Active",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "parkBrakeNoEntry": Alert(
-        "openpilot Unavailable",
-        "Park Brake Engaged",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "lowSpeedLockoutNoEntry": Alert(
-        "openpilot Unavailable",
-        "Cruise Fault: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "lowBatteryNoEntry": Alert(
-        "openpilot Unavailable",
-        "Low Battery",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    # Cancellation alerts causing soft disabling
-    "overheat": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "System Overheated",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "wrongGear": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Gear not D",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "calibrationInvalid": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Calibration Invalid: Reposition EON and Recalibrate",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "calibrationIncomplete": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Calibration in Progress",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "doorOpen": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Door Open",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "seatbeltNotLatched": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Seatbelt Unlatched",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "espDisabled": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "ESP Off",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    "lowBattery": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Low Battery",
-        AlertStatus.critical, AlertSize.full,
-        Priority.MID, "steerRequired", "chimeRepeated", 1., 3., 3.),
-
-    # Cancellation alerts causing immediate disabling
-    "radarCommIssue": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Radar Error: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "radarFault": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Radar Error: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "modelCommIssue": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Model Error: Check Internet Connection",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "controlsFailed": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Controls Failed",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "controlsMismatch": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Controls Mismatch",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "commIssue": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "CAN Error: Check Connections",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "steerUnavailable": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "LKAS Fault: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "brakeUnavailable": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Cruise Fault: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "gasUnavailable": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Gas Fault: Restart the Car",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "reverseGear": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Reverse Gear",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "cruiseDisabled": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Cruise Is Off",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    "plannerError": Alert(
-        "TAKE CONTROL IMMEDIATELY",
-        "Planner Solution Error",
-        AlertStatus.critical, AlertSize.full,
-        Priority.HIGHEST, "steerRequired", "chimeRepeated", 1., 3., 4.),
-
-    # not loud cancellations (user is in control)
-    "noTarget": Alert(
-        "openpilot Canceled",
-        "No close lead car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.HIGH, None, "chimeDouble", .4, 2., 3.),
-
-    "speedTooLow": Alert(
-        "openpilot Canceled",
-        "Speed too low",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.HIGH, None, "chimeDouble", .4, 2., 3.),
-
-    # Cancellation alerts causing non-entry
-    "overheatNoEntry": Alert(
-        "openpilot Unavailable",
-        "System overheated",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "wrongGearNoEntry": Alert(
-        "openpilot Unavailable",
-        "Gear not D",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "calibrationInvalidNoEntry": Alert(
-        "openpilot Unavailable",
-        "Calibration Invalid: Reposition EON and Recalibrate",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "calibrationIncompleteNoEntry": Alert(
-        "openpilot Unavailable",
-        "Calibration in Progress",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "doorOpenNoEntry": Alert(
-        "openpilot Unavailable",
-        "Door open",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "seatbeltNotLatchedNoEntry": Alert(
-        "openpilot Unavailable",
-        "Seatbelt unlatched",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "espDisabledNoEntry": Alert(
-        "openpilot Unavailable",
-        "ESP Off",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "geofenceNoEntry": Alert(
-        "openpilot Unavailable",
-        "Not in Geofenced Area",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.MID, None, "chimeDouble", .4, 2., 3.),
-
-    "radarCommIssueNoEntry": Alert(
-        "openpilot Unavailable",
-        "Radar Error: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "radarFaultNoEntry": Alert(
-        "openpilot Unavailable",
-        "Radar Error: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "modelCommIssueNoEntry": Alert(
-        "openpilot Unavailable",
-        "Model Error: Check Internet Connection",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "controlsFailedNoEntry": Alert(
-        "openpilot Unavailable",
-        "Controls Failed",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "commIssueNoEntry": Alert(
-        "openpilot Unavailable",
-        "CAN Error: Check Connections",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "steerUnavailableNoEntry": Alert(
-        "openpilot Unavailable",
-        "LKAS Fault: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "brakeUnavailableNoEntry": Alert(
-        "openpilot Unavailable",
-        "Cruise Fault: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "gasUnavailableNoEntry": Alert(
-        "openpilot Unavailable",
-        "Gas Error: Restart the Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "reverseGearNoEntry": Alert(
-        "openpilot Unavailable",
-        "Reverse Gear",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "cruiseDisabledNoEntry": Alert(
-        "openpilot Unavailable",
-        "Cruise is Off",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "noTargetNoEntry": Alert(
-        "openpilot Unavailable",
-        "No Close Lead Car",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    "plannerErrorNoEntry": Alert(
-        "openpilot Unavailable",
-        "Planner Solution Error",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOW, None, "chimeDouble", .4, 2., 3.),
-
-    # permanent alerts
-    "steerUnavailablePermanent": Alert(
-        "LKAS Fault: Restart the car to engage",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW_LOWEST, None, None, 0., 0., .2),
-
-    "brakeUnavailablePermanent": Alert(
-        "Cruise Fault: Restart the car to engage",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW_LOWEST, None, None, 0., 0., .2),
-
-    "lowSpeedLockoutPermanent": Alert(
-        "Cruise Fault: Restart the car to engage",
-        "",
-        AlertStatus.normal, AlertSize.small,
-        Priority.LOW_LOWEST, None, None, 0., 0., .2),
-
-    "calibrationIncompletePermanent": Alert(
-        "Calibration in Progress: ",
-        "Drive Above ",
-        AlertStatus.normal, AlertSize.mid,
-        Priority.LOWEST, None, None, 0., 0., .2),
-  }

  def __init__(self):
    self.activealerts = []
+    self.alerts = {alert.alert_type: alert for alert in ALERTS}

  def alertPresent(self):
    return len(self.activealerts) > 0
@@ -545,26 +26,24 @@ class AlertManager(object):
    added_alert.start_time = sec_since_boot()

    # if new alert is higher priority, log it
-    if not self.alertPresent() or \
-       added_alert.alert_priority > self.activealerts[0].alert_priority:
-      cloudlog.event('alert_add',
-                     alert_type=alert_type,
-                     enabled=enabled)
+    if not self.alertPresent() or added_alert.alert_priority > self.activealerts[0].alert_priority:
+          cloudlog.event('alert_add', alert_type=alert_type, enabled=enabled)

    self.activealerts.append(added_alert)
+
    # sort by priority first and then by start_time
    self.activealerts.sort(key=lambda k: (k.alert_priority, k.start_time), reverse=True)

-  # TODO: cycle through alerts?
  def process_alerts(self, cur_time):

    # first get rid of all the expired alerts
    self.activealerts = [a for a in self.activealerts if a.start_time +
                         max(a.duration_sound, a.duration_hud_alert, a.duration_text) > cur_time]

-    ca = self.activealerts[0] if self.alertPresent() else None
+    current_alert = self.activealerts[0] if self.alertPresent() else None

    # start with assuming no alerts
+    self.alert_type = ""
    self.alert_text_1 = ""
    self.alert_text_2 = ""
    self.alert_status = AlertStatus.normal
@@ -573,16 +52,18 @@ class AlertManager(object):
    self.audible_alert = "none"
    self.alert_rate = 0.

-    if ca:
-      if ca.start_time + ca.duration_sound > cur_time:
-        self.audible_alert = ca.audible_alert
+    if current_alert:
+      self.alert_type = current_alert.alert_type

-      if ca.start_time + ca.duration_hud_alert > cur_time:
-        self.visual_alert = ca.visual_alert
+      if current_alert.start_time + current_alert.duration_sound > cur_time:
+        self.audible_alert = current_alert.audible_alert

-      if ca.start_time + ca.duration_text > cur_time:
-        self.alert_text_1 = ca.alert_text_1
-        self.alert_text_2 = ca.alert_text_2
-        self.alert_status = ca.alert_status
-        self.alert_size = ca.alert_size
-        self.alert_rate = ca.alert_rate
+      if current_alert.start_time + current_alert.duration_hud_alert > cur_time:
+        self.visual_alert = current_alert.visual_alert
+
+      if current_alert.start_time + current_alert.duration_text > cur_time:
+        self.alert_text_1 = current_alert.alert_text_1
+        self.alert_text_2 = current_alert.alert_text_2
+        self.alert_status = current_alert.alert_status
+        self.alert_size = current_alert.alert_size
+        self.alert_rate = current_alert.alert_rate
--- 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