openpilot v0.5.13 release

4348db7 add PyJWT we use in backend

git-subtree-dir: pyextra
git-subtree-split: 4348db7e867dafbbcb7ec0302b5528688d1102c6

.gitignore

@@ -26,9 +26,14 @@ clcache
 board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
+selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
 selfdrive/test/tests/plant/out
+selfdrive/visiond/visiond
 /src/
 
 one
+openpilot
+xx
+

.pylintrc

@@ -0,0 +1,585 @@
+[MASTER]
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code
+extension-pkg-whitelist=scipy
+
+# Add files or directories to the blacklist. They should be base names, not
+# paths.
+ignore=CVS
+
+# Add files or directories matching the regex patterns to the blacklist. The
+# regex matches against base names, not paths.
+ignore-patterns=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint.
+jobs=4
+
+# List of plugins (as comma separated values of python modules names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Specify a configuration file.
+#rcfile=
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=print-statement,
+        parameter-unpacking,
+        unpacking-in-except,
+        old-raise-syntax,
+        backtick,
+        long-suffix,
+        old-ne-operator,
+        old-octal-literal,
+        import-star-module-level,
+        non-ascii-bytes-literal,
+        raw-checker-failed,
+        bad-inline-option,
+        locally-disabled,
+        locally-enabled,
+        file-ignored,
+        suppressed-message,
+        useless-suppression,
+        deprecated-pragma,
+        apply-builtin,
+        basestring-builtin,
+        buffer-builtin,
+        cmp-builtin,
+        coerce-builtin,
+        execfile-builtin,
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+        long-builtin,
+        raw_input-builtin,
+        reduce-builtin,
+        standarderror-builtin,
+        unicode-builtin,
+        xrange-builtin,
+        coerce-method,
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+        setslice-method,
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+        dict-view-method,
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+        cmp-method,
+        input-builtin,
+        round-builtin,
+        intern-builtin,
+        unichr-builtin,
+        map-builtin-not-iterating,
+        zip-builtin-not-iterating,
+        range-builtin-not-iterating,
+        filter-builtin-not-iterating,
+        using-cmp-argument,
+        eq-without-hash,
+        div-method,
+        idiv-method,
+        rdiv-method,
+        exception-message-attribute,
+        invalid-str-codec,
+        sys-max-int,
+        bad-python3-import,
+        deprecated-string-function,
+        deprecated-str-translate-call,
+        deprecated-itertools-function,
+        deprecated-types-field,
+        next-method-defined,
+        dict-items-not-iterating,
+        dict-keys-not-iterating,
+        dict-values-not-iterating,
+        bad-indentation,
+        line-too-long,
+        missing-docstring,
+        multiple-statements,
+        bad-continuation,
+        invalid-name,
+        too-many-arguments,
+        too-many-locals,
+        superfluous-parens,
+        bad-whitespace,
+        too-many-instance-attributes,
+        wrong-import-position,
+        ungrouped-imports,
+        wrong-import-order,
+        protected-access,
+        trailing-whitespace,
+        too-many-branches,
+        too-few-public-methods,
+        too-many-statements,
+        trailing-newlines,
+        attribute-defined-outside-init,
+        too-many-return-statements,
+        too-many-public-methods,
+        unused-argument,
+        old-style-class,
+        no-init,
+        len-as-condition,
+        unneeded-not,
+        no-self-use,
+        multiple-imports,
+        no-else-return,
+        logging-not-lazy,
+        fixme,
+        redefined-outer-name,
+        unused-variable,
+        unsubscriptable-object,
+        expression-not-assigned,
+        too-many-boolean-expressions,
+        consider-using-ternary,
+        invalid-unary-operand-type,
+        relative-import,
+        deprecated-lambda
+
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[REPORTS]
+
+# Python expression which should return a note less than 10 (10 is the highest
+# note). You have access to the variables errors warning, statement which
+# respectively contain the number of errors / warnings messages and the total
+# number of statements analyzed. This is used by the global evaluation report
+# (RP0004).
+evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details
+#msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio).You can also give a reporter class, eg
+# mypackage.mymodule.MyReporterClass.
+output-format=text
+
+# Tells whether to display a full report or only the messages
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=optparse.Values,sys.exit
+
+
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it working
+# install python-enchant package.
+spelling-dict=
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to indicated private dictionary in
+# --spelling-private-dict-file option instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+
+[SIMILARITIES]
+
+# Ignore comments when computing similarities.
+ignore-comments=yes
+
+# Ignore docstrings when computing similarities.
+ignore-docstrings=yes
+
+# Ignore imports when computing similarities.
+ignore-imports=no
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis. It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+# showing a hint for a missing member.
+missing-member-max-choices=1
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored. Default to name
+# with leading underscore
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging  or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='  '
+
+# Maximum number of characters on a single line.
+max-line-length=100
+
+# Maximum number of lines in a module
+max-module-lines=1000
+
+# List of optional constructs for which whitespace checking is disabled. `dict-
+# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
+# `trailing-comma` allows a space between comma and closing bracket: (a, ).
+# `empty-line` allows space-only lines.
+no-space-check=trailing-comma,
+               dict-separator
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style
+#argument-rgx=
+
+# Naming style matching correct attribute names
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Naming style matching correct class attribute names
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style
+#class-attribute-rgx=
+
+# Naming style matching correct class names
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-style
+#class-rgx=
+
+# Naming style matching correct constant names
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Include a hint for the correct naming format with invalid-name
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style
+#inlinevar-rgx=
+
+# Naming style matching correct method names
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style
+#method-rgx=
+
+# Naming style matching correct module names
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+property-classes=abc.abstractproperty
+
+# Naming style matching correct variable names
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style
+#variable-rgx=
+
+
+[DESIGN]
+
+# Maximum number of arguments for function / method
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in a if statement
+max-bool-expr=5
+
+# Maximum number of branch for function / method body
+max-branches=12
+
+# Maximum number of locals for function / method body
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body
+max-returns=6
+
+# Maximum number of statements in function / method body
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[CLASSES]
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=mcs
+
+
+[IMPORTS]
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,
+                   TERMIOS,
+                   Bastion,
+                   rexec
+
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
+
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
+
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when being caught. Defaults to
+# "Exception"
+overgeneral-exceptions=Exception

.travis.yml

@@ -7,6 +7,17 @@ install:
   - docker build -t tmppilot -f Dockerfile.openpilot .
 
 script:
-  - docker run --rm
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
+  - docker run
+      tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
+  - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
+  - docker run
       -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
       tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'

CONTRIBUTING.md

@@ -2,17 +2,30 @@
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
 
-Most open source development activity is coordinated through our [slack](https://slack.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
+Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/)
 
 ## Getting Started
 
- * Join our slack [slack.comma.ai](https://slack.comma.ai)
+ * Join our [Discord](https://discord.comma.ai)
  * Make sure you have a [GitHub account](https://github.com/signup/free)
  * Fork [our repositories](https://github.com/commaai) on GitHub
 
+## Testing
+
+### Local Testing
+
+You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
+
+### Automated Testing
+
+All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
+
+### Code Style and Linting
+
+Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
+
 ## Car Ports (openpilot)
 
 We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
 
 If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
-

Dockerfile.openpilot

@@ -1,7 +1,28 @@
 FROM ubuntu:16.04
 ENV PYTHONUNBUFFERED 1
 
-RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
+RUN apt-get update && apt-get install -y \
+    autoconf \
+    build-essential \
+    clang \
+    wget \
+    bzip2 \
+    git \
+    libglib2.0-0 \
+    libtool \
+    python-pip \
+    libzmq5-dev \
+    libffi-dev \
+    libusb-1.0-0 \
+    libssl-dev \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    opencl-headers
+
+COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
+RUN /tmp/install_capnp.sh
+
+RUN pip install --upgrade pip==18.0
 RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
 
 COPY requirements_openpilot.txt /tmp/
@@ -9,12 +30,14 @@ RUN pip install -r /tmp/requirements_openpilot.txt
 
 ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
 
+COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal
 COPY ./opendbc /tmp/openpilot/opendbc
 COPY ./selfdrive /tmp/openpilot/selfdrive
 COPY ./phonelibs /tmp/openpilot/phonelibs
 COPY ./pyextra /tmp/openpilot/pyextra
+COPY ./panda /tmp/openpilot/panda
 
 RUN mkdir -p /tmp/openpilot/selfdrive/test/out
 RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean

README.md

@@ -1,11 +1,28 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
+[![](https://i.imgur.com/xY2gdHv.png)](#)
 
 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 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).
+[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
 ------
@@ -14,11 +31,11 @@ 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 several thousand people community on [slack](https://slack.comma.ai).
+Also, we have a several thousand people community on [Discord](https://discord.comma.ai).
 
 <table>
   <tr>
-    <td><a href="https://www.youtube.com/watch?v=9TDi0BHgXyo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
     <td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
     <td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
     <td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
@@ -34,93 +51,91 @@ Also, we have a several thousand people community on [slack](https://slack.comma
 Hardware
 ------
 
-Right now openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). We'd like to support other platforms as well.
+At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.
 
 Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
 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          |
-| Chevrolet<sup>3</sup>| Volt 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
-| Chevrolet<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             |
+| Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| 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>|
+| Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Chrysler             | Pacifica 2018            | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2019     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| GMC<sup>3</sup>      | Acadia Denali 2018       | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Holden<sup>3</sup>   | Astra 2017               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| Honda                | Accord 2018              | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
+| Honda                | Civic Sedan/Coupe 2016-18| Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |
+| Honda                | Civic Sedan/Coupe 2019   | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           | Bosch             |
+| Honda                | Civic Hatchback 2017-19  | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V 2015-16             | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Honda                | CR-V 2017-19             | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | CR-V Hybrid 2019         | All                  | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
+| Honda                | Odyssey 2017-19          | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           | Inverted Nidec    |
+| Honda                | Passport 2019            | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Honda                | Pilot 2016-18            | 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 2017-19        | 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>|
+| Jeep                 | Grand Cherokee 2017-18   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Jeep                 | Grand Cherokee 2019      | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          | FCA               |
+| Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | 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 2016-19        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Avalon 2016              | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 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<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 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 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Prius Prime 2017-19      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2019                | All                  | Yes     | Yes            | 0mph             | 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>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>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://zoneos.com/volt/).
+<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
+<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.
+<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).
 
 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          |
-| Tesla         | Model S 2012              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |
-| Tesla         | Model S 2013              | All                  | Yes     | Not yet        | Not applicable   | 0mph           |
+| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
+| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
+| Honda                | Fit 2018                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
+| Tesla                | Model S 2012-13          | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
 
-[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
-[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)
+[[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.
 
 In Progress Cars
 ------
-- All TSS-P Toyota with Steering Assist.
-  - 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
-  - Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
-- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
-  - 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
-  - Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
+- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
+  - Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
 - All Hyundai with SmartSense.
 - All Kia with SCC and LKAS.
+- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
 
 How can I add support for my car?
 ------
@@ -129,9 +144,9 @@ If your car has adaptive cruise control and lane keep assist, you are in luck. U
 
 We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
 
-- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
+- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
 - 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
 ------
@@ -146,6 +161,7 @@ Directory structure
     ├── pyextra             # Libraries used on EON
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts and images for UI
+        ├── athena          # Allows communication with the app
         ├── boardd          # Daemon to talk to the board
         ├── can             # Helpers for parsing CAN messages
         ├── car             # Car specific code to read states and control actuators
@@ -159,14 +175,14 @@ Directory structure
         ├── sensord         # IMU / GPS interface code
         ├── test            # Car simulator running code through virtual maneuvers
         ├── ui              # The UI
-        └── visiond         # Embedded vision pipeline
+        └── visiond         # Vision pipeline
 
 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.
 
@@ -179,22 +195,21 @@ By using it, you agree to [our privacy policy](https://community.comma.ai/privac
 Testing on PC
 ------
 
-There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
+Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+
+Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
 
 ```bash
 # Requires working docker
 ./run_docker_tests.sh
 ```
 
-The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudinal/index.html`
-
-More extensive testing infrastructure and simulation environments are coming soon.
-
 Contributing
 ------
 
-We welcome both pull requests and issues on
-[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
+We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
+
+We also have a [bounty program](https://comma.ai/bounties.html).
 
 Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
 
@@ -208,3 +223,7 @@ 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>

RELEASES.md

@@ -1,3 +1,97 @@
+Version 0.5.13 (2019-05-31)
+==========================
+ * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
+ * Reduce EON power consumption by 40%, down to 1100mW, when car is off
+ * Reduce CPU utilization by 20% and improve stability
+ * Temporarily remove mapd functionalities to improve stability
+ * Add openpilot record-only mode for unsupported cars
+ * Synchronize controlsd to boardd to reduce latency
+ * Remove panda support for Subaru giraffe
+
+Version 0.5.12 (2019-05-16)
+==========================
+ * Improve lateral control for the Prius and Prius Prime
+ * Compress logs before writing to disk
+ * Remove old driving data when storage reaches 90% full
+ * Fix small offset in following distance
+ * Various small CPU optimizations
+ * Improve offroad power consumption: require NEOS Update
+ * Add default speed limits for Estonia thanks to martinl!
+ * Subaru Crosstrek support thanks to martinl!
+ * Toyota Avalon support thanks to njbrown09!
+ * Toyota Rav4 with TSS 2.0 support thanks to wocsor!
+ * Toyota Corolla with TSS 2.0 support thanks to wocsor!
+
+Version 0.5.11 (2019-04-17)
+========================
+ * Add support for Subaru
+ * Reduce panda power consumption by 60% when car is off
+ * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
+ * Fix bug in controls with new angle-offset learner in MPC
+ * Reduce cpu consumption of ubloxd by rewriting it in C++
+ * Improve driver monitoring model and face detection
+ * Improve performance of visiond and ui
+ * Honda Passport 2019 support
+ * Lexus RX Hybrid 2019 support thanks to schomems!
+ * Improve road selection heuristic in mapd
+ * Add Lane Departure Warning to dashboard for Toyota thanks to arne182
+
+Version 0.5.10 (2019-03-19)
+========================
+ * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
+ * Improve longitudinal control at low speed when lead vehicle harshly decelerates
+ * Fix panda bug going unexpectedly in DCP mode when EON is connected
+ * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
+ * New Driver Monitoring Model
+ * Support QR codes for login using comma connect
+ * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
+   Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
+ * Additional speed limit rules for Germany thanks to arne182
+ * Allow negative speed limit offsets
+
+Version 0.5.9 (2019-02-10)
+========================
+ * Improve calibration using a dedicated neural network
+ * Abstract planner in its own process to remove lags in controls process
+ * Improve speed limits with country/region defaults by road type
+ * Reduce mapd data usage with gzip thanks to eFiniLan
+ * Zip log files in the background to reduce disk usage
+ * Kia Optima support thanks to emmertex!
+ * Buick Regal 2018 support thanks to HOYS!
+ * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+ * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
+
+Version 0.5.8 (2019-01-17)
+========================
+ * Open sourced visiond
+ * Auto-slowdown for upcoming turns
+ * Chrysler/Jeep/Fiat support thanks to adhintz!
+ * Honda Civic 2019 support thanks to csouers!
+ * Improve use of car display in Toyota thanks to arne182!
+ * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
+ * EON stops charging when 12V battery drops below 11.8V
+
+Version 0.5.7 (2018-12-06)
+========================
+ * Speed limit from OpenStreetMap added to UI
+ * Highlight speed limit when speed exceeds road speed limit plus a delta
+ * Option to limit openpilot max speed to road speed limit plus a delta
+ * Cadillac ATS support thanks to vntarasov!
+ * GMC Acadia support thanks to CryptoKylan!
+ * Decrease GPU power consumption
+ * NEOSv8 autoupdate
+
+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!
+ * Holden Astra support thanks to AlexHill!
+
 Version 0.5.5 (2018-10-20)
 ========================
  * Increase allowed Honda positive accelerations

SAFETY.md

@@ -89,7 +89,7 @@ GM/Chevrolet
     and openpilot to 350. This is approximately 0.3g of braking.
 
   - Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
-    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
+    openpilot to a value between -300 and 300. In addition, the vehicle EPS unit will fault for
     commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
     openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
     0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
@@ -105,5 +105,47 @@ GM/Chevrolet
   - GM CAN uses both a counter and a checksum to ensure integrity and prevent
     replay of the same message.
 
-**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
+Hyundai/Kia (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x340 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
+    commands outside the values of -409 and 409. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.85s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 50 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+Chrysler/Jeep/Fiat (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x292 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -261 and 261. In addition, the vehicle EPS unit will fault for
+    commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.87s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 80
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+Subaru (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by
+    the stock system.
+
+  - Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
+    openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
+    commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
+    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
+    0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
+    torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
+    driver's will.
+
+**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.

cereal/Makefile

@@ -7,20 +7,23 @@ JS := gen/js/car.capnp.js gen/js/log.capnp.js
 
 UNAME_M ?= $(shell uname -m)
 
-# only generate C++ for docker tests
-ifneq ($(OPTEST),1)
-	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
+GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
 
-	ifeq ($(UNAME_M),x86_64)
-		GENS += gen/java/Car.java gen/java/Log.java
-	endif
+ifeq ($(UNAME_M),x86_64)
+
+ifneq (, $(shell which capnpc-java))
+GENS += gen/java/Car.java gen/java/Log.java
+else
+$(warning capnpc-java not found, skipping java build)
+endif
 
 endif
 
+
 ifeq ($(UNAME_M),aarch64)
-	CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
+CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
 else
-	CAPNPC=capnpc
+CAPNPC=capnpc
 endif
 
 .PHONY: all

cereal/car.capnp

@@ -71,6 +71,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     belowSteerSpeed @46;
     calibrationProgress @47;
     lowBattery @48;
+    invalidGiraffeHonda @49;
+    vehicleModelInvalid @50;
+    controlsFailed @51;
+    sensorDataInvalid @52;
   }
 }
 
@@ -172,7 +176,7 @@ struct CarState {
 
 # ******* radar state @ 20hz *******
 
-struct RadarState {
+struct RadarData @0x888ad6581cf0aacb {
   errors @0 :List(Error);
   points @1 :List(RadarPoint);
 
@@ -243,6 +247,10 @@ struct CarControl {
     leadVisible @3: Bool;
     visualAlert @4: VisualAlert;
     audibleAlert @5: AudibleAlert;
+    rightLaneVisible @6: Bool;
+    leftLaneVisible @7: Bool;
+    rightLaneDepart @8: Bool;
+    leftLaneDepart @9: Bool;
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -260,13 +268,13 @@ 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;
     }
   }
 }
@@ -275,31 +283,84 @@ struct CarControl {
 
 struct CarParams {
   carName @0 :Text;
-  radarNameDEPRECATED @1 :Text;
-  carFingerprint @2 :Text;
+  carFingerprint @1 :Text;
 
-  enableSteerDEPRECATED @3 :Bool;
-  enableGasInterceptor @4 :Bool;
-  enableBrakeDEPRECATED @5 :Bool;
-  enableCruise @6 :Bool;
-  enableCamera @26 :Bool;
-  enableDsu @27 :Bool; # driving support unit
-  enableApgs @28 :Bool; # advanced parking guidance system
+  enableGasInterceptor @2 :Bool;
+  enableCruise @3 :Bool;
+  enableCamera @4 :Bool;
+  enableDsu @5 :Bool; # driving support unit
+  enableApgs @6 :Bool; # advanced parking guidance system
 
-  minEnableSpeed @17 :Float32;
-  minSteerSpeed @49 :Float32;
-  safetyModel @18 :Int16;
-  safetyParam @41 :Int16;
+  minEnableSpeed @7 :Float32;
+  minSteerSpeed @8 :Float32;
+  safetyModel @9 :Int16;
+  safetyParam @10 :Int16;
 
-  steerMaxBP @19 :List(Float32);
-  steerMaxV @20 :List(Float32);
-  gasMaxBP @21 :List(Float32);
-  gasMaxV @22 :List(Float32);
-  brakeMaxBP @23 :List(Float32);
-  brakeMaxV @24 :List(Float32);
+  steerMaxBP @11 :List(Float32);
+  steerMaxV @12 :List(Float32);
+  gasMaxBP @13 :List(Float32);
+  gasMaxV @14 :List(Float32);
+  brakeMaxBP @15 :List(Float32);
+  brakeMaxV @16 :List(Float32);
+
+
+  # things about the car in the manual
+  mass @17 :Float32;             # [kg] running weight
+  wheelbase @18 :Float32;        # [m] distance from rear to front axle
+  centerToFront @19 :Float32;   # [m] GC distance to front axle
+  steerRatio @20 :Float32;       # [] ratio between front wheels and steering wheel angles
+  steerRatioRear @21 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
+
+  # things we can derive
+  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
+  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+
+  longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralTuning :union {
+    pid @26 :LateralPIDTuning;
+    indi @27 :LateralINDITuning;
+  }
+
+  steerLimitAlert @28 :Bool;
+
+  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
+  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
+  startAccel @32 :Float32; # Required acceleraton to overcome creep braking
+  steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
+  steerControlType @34 :SteerControlType;
+  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+
+  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
+  carVin @38 :Text; # VIN number queried during fingerprinting
+
+  struct LateralPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    kf @4 :Float32;
+  }
+
+  struct LongitudinalPIDTuning {
+    kpBP @0 :List(Float32);
+    kpV @1 :List(Float32);
+    kiBP @2 :List(Float32);
+    kiV @3 :List(Float32);
+    deadzoneBP @4 :List(Float32);
+    deadzoneV @5 :List(Float32);
+  }
+
+
+  struct LateralINDITuning {
+    outerLoopGain @0 :Float32;
+    innerLoopGain @1 :Float32;
+    timeConstant @2 :Float32;
+    actuatorEffectiveness @3 :Float32;
+  }
 
-  longPidDeadzoneBP @32 :List(Float32);
-  longPidDeadzoneV @33 :List(Float32);
 
   enum SafetyModels {
     # does NOT match board setting
@@ -314,47 +375,9 @@ struct CarParams {
     hyundai @8;
     chrysler @9;
     tesla @10;
+    subaru @11;
   }
 
-  # things about the car in the manual
-  mass @7 :Float32;             # [kg] running weight
-  wheelbase @8 :Float32;        # [m] distance from rear to front axle
-  centerToFront @9 :Float32;   # [m] GC distance to front axle
-  steerRatio @10 :Float32;       # [] ratio between front wheels and steering wheel angles
-  steerRatioRear @11 :Float32;  # [] rear steering ratio wrt front steering (usually 0)
-
-  # things we can derive
-  rotationalInertia @12 :Float32;    # [kg*m2] body rotational inertia
-  tireStiffnessFront @13 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff
-
-  # Kp and Ki for the lateral control
-  steerKpBP @42 :List(Float32);
-  steerKpV @43 :List(Float32);
-  steerKiBP @44 :List(Float32);
-  steerKiV @45 :List(Float32);
-  steerKpDEPRECATED @15 :Float32;
-  steerKiDEPRECATED @16 :Float32;
-  steerKf @25 :Float32;
-
-  # Kp and Ki for the longitudinal control
-  longitudinalKpBP @36 :List(Float32);
-  longitudinalKpV @37 :List(Float32);
-  longitudinalKiBP @38 :List(Float32);
-  longitudinalKiV @39 :List(Float32);
-
-  steerLimitAlert @29 :Bool;
-
-  vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state
-  directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
-  startAccel @35 :Float32; # Required acceleraton to overcome creep braking
-  steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
-  steerControlType @46 :SteerControlType;
-  radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
-
-  steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
-
   enum SteerControlType {
     torque @0;
     angle @1;

cereal/log.capnp

@@ -187,10 +187,10 @@ struct SensorEventData {
     iOS @1;
     fiber @2;
     velodyne @3;  # Velodyne IMU
-    # c3 sensors below
-    bno055 @4;
-    lsm6ds3 @5;
-    bmp280 @6;
+    bno055 @4;    # Bosch accelerometer
+    lsm6ds3 @5;   # accelerometer (c2)
+    bmp280 @6;    # barometer (c2)
+    mmc3416x @7;  # magnetometer (c2)
   }
 }
 
@@ -276,7 +276,8 @@ struct ThermalData {
   startedTs @13 :UInt64;
 
   thermalStatus @14 :ThermalStatus;
-  chargerDisabled @17 :Bool;
+  chargingError @17 :Bool;
+  chargingDisabled @18 :Bool;
 
   enum ThermalStatus {
     green @0;   # all processes run
@@ -304,12 +305,12 @@ struct LiveUI {
   awarenessStatus @3 :Float32;
 }
 
-struct Live20Data {
+struct RadarState @0x9a185389d6fdd05f {
   canMonoTimes @10 :List(UInt64);
   mdMonoTime @6 :UInt64;
   ftMonoTimeDEPRECATED @7 :UInt64;
-  l100MonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarState.Error);
+  controlsStateMonoTime @11 :UInt64;
+  radarErrors @12 :List(Car.RadarData.Error);
 
   # all deprecated
   warpMatrixDEPRECATED @0 :List(Float32);
@@ -344,6 +345,7 @@ struct LiveCalibrationData {
   warpMatrix @0 :List(Float32);
   # camera_frame_from_model_frame
   warpMatrix2 @5 :List(Float32);
+  warpMatrixBig @6 :List(Float32);
   calStatus @1 :Int8;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
@@ -366,14 +368,15 @@ struct LiveTracks {
   oncoming @9 :Bool;
 }
 
-struct Live100Data {
+struct ControlsState @0x97ff69c53601abf1 {
   canMonoTimeDEPRECATED @16 :UInt64;
   canMonoTimes @21 :List(UInt64);
-  l20MonoTimeDEPRECATED @17 :UInt64;
+  radarStateMonoTimeDEPRECATED @17 :UInt64;
   mdMonoTimeDEPRECATED @18 :UInt64;
   planMonoTime @28 :UInt64;
+  pathPlanMonoTime @50 :UInt64;
 
-  state @31 :ControlState;
+  state @31 :OpenpilotState;
   vEgo @0 :Float32;
   vEgoRaw @32 :Float32;
   aEgoDEPRECATED @1 :Float32;
@@ -385,9 +388,9 @@ struct Live100Data {
   ufAccelCmd @33 :Float32;
   yActualDEPRECATED @6 :Float32;
   yDesDEPRECATED @7 :Float32;
-  upSteer @8 :Float32;
-  uiSteer @9 :Float32;
-  ufSteer @34 :Float32;
+  upSteerDEPRECATED @8 :Float32;
+  uiSteerDEPRECATED @9 :Float32;
+  ufSteerDEPRECATED @34 :Float32;
   aTargetMinDEPRECATED @10 :Float32;
   aTargetMaxDEPRECATED @11 :Float32;
   aTarget @35 :Float32;
@@ -397,6 +400,9 @@ struct Live100Data {
   curvature @37 :Float32;       # path curvature from vehicle model
   hudLeadDEPRECATED @14 :Int32;
   cumLagMs @15 :Float32;
+  startMonoTime @48 :UInt64;
+  mapValid @49 :Bool;
+  forceDecel @51 :Bool;
 
   enabled @19 :Bool;
   active @36 :Bool;
@@ -411,13 +417,23 @@ struct Live100Data {
   alertSize @39 :AlertSize;
   alertBlinkingRate @42 :Float32;
   alertType @44 :Text;
+  alertSound @45 :Text;
   awarenessStatus @26 :Float32;
-  angleOffset @27 :Float32;
+  angleModelBias @27 :Float32;
   gpsPlannerActive @40 :Bool;
   engageable @41 :Bool;  # can OP be engaged?
   driverMonitoringOn @43 :Bool;
 
-  enum ControlState {
+  # maps
+  vCurvature @46 :Float32;
+  decelForTurn @47 :Bool;
+
+  lateralControlState :union {
+    indiState @52 :LateralINDIState;
+    pidState @53 :LateralPIDState;
+  }
+
+  enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
     enabled @2;
@@ -444,6 +460,31 @@ struct Live100Data {
     full @3;    # full screen
   }
 
+  struct LateralINDIState {
+    active @0 :Bool;
+    steerAngle @1 :Float32;
+    steerRate @2 :Float32;
+    steerAccel @3 :Float32;
+    rateSetPoint @4 :Float32;
+    accelSetPoint @5 :Float32;
+    accelError @6 :Float32;
+    delayedOutput @7 :Float32;
+    delta @8 :Float32;
+    output @9 :Float32;
+  }
+
+  struct LateralPIDState {
+    active @0 :Bool;
+    steerAngle @1 :Float32;
+    steerRate @2 :Float32;
+    angleError @3 :Float32;
+    p @4 :Float32;
+    i @5 :Float32;
+    f @6 :Float32;
+    output @7 :Float32;
+    saturated @8 :Bool;
+   }
+
 }
 
 struct LiveEventData {
@@ -466,6 +507,7 @@ struct ModelData {
     points @0 :List(Float32);
     prob @1 :Float32;
     std @2 :Float32;
+    stds @3 :List(Float32);
   }
 
   struct LeadData {
@@ -533,16 +575,16 @@ struct LogRotate {
 
 struct Plan {
   mdMonoTime @9 :UInt64;
-  l20MonoTime @10 :UInt64;
-  events @13 :List(Car.CarEvent);
+  radarStateMonoTime @10 :UInt64;
+  eventsDEPRECATED @13 :List(Car.CarEvent);
 
   # lateral, 3rd order polynomial
-  lateralValid @0 :Bool;
-  dPoly @1 :List(Float32);
-  laneWidth @11 :Float32;
+  lateralValidDEPRECATED @0 :Bool;
+  dPolyDEPRECATED @1 :List(Float32);
+  laneWidthDEPRECATED @11 :Float32;
 
   # longitudinal
-  longitudinalValid @2 :Bool;
+  longitudinalValidDEPRECATED @2 :Bool;
   vCruise @16 :Float32;
   aCruise @17 :Float32;
   vTarget @3 :Float32;
@@ -551,8 +593,14 @@ struct Plan {
   aTargetMinDEPRECATED @4 :Float32;
   aTargetMaxDEPRECATED @5 :Float32;
   aTarget @18 :Float32;
+
+  vStart @26 :Float32;
+  aStart @27 :Float32;
+
   jerkFactor @6 :Float32;
   hasLead @7 :Bool;
+  hasLeftLaneDEPRECATED @23 :Bool;
+  hasRightLaneDEPRECATED @24 :Bool;
   fcw @8 :Bool;
   longitudinalPlanSource @15 :LongitudinalPlanSource;
 
@@ -561,6 +609,16 @@ struct Plan {
 
   gpsPlannerActive @19 :Bool;
 
+  # maps
+  vCurvature @21 :Float32;
+  decelForTurn @22 :Bool;
+  mapValid @25 :Bool;
+  radarValid @28 :Bool;
+  radarCommIssue @30 :Bool;
+
+  processingDelay @29 :Float32;
+
+
   struct GpsTrajectory {
     x @0 :List(Float32);
     y @1 :List(Float32);
@@ -574,6 +632,26 @@ struct Plan {
   }
 }
 
+struct PathPlan {
+  laneWidth @0 :Float32;
+
+  dPoly @1 :List(Float32);
+  cPoly @2 :List(Float32);
+  cProb @3 :Float32;
+  lPoly @4 :List(Float32);
+  lProb @5 :Float32;
+  rPoly @6 :List(Float32);
+  rProb @7 :Float32;
+
+  angleSteers @8 :Float32; # deg
+  rateSteers @13 :Float32; # deg/s
+  valid @9 :Bool;
+  paramsValid @10 :Bool;
+  modelValid @12 :Bool;
+  angleOffset @11 :Float32;
+  sensorValid @14 :Bool;
+}
+
 struct LiveLocationData {
   status @0 :UInt8;
 
@@ -1260,6 +1338,7 @@ struct UbloxGnss {
       carrierPhaseStdev @10 :Float32;
       # doppler standard deviation in Hz
       dopplerStdev @11 :Float32;
+      sigId @12 :UInt8;
 
       struct TrackingStatus {
         # pseudorange valid
@@ -1563,8 +1642,45 @@ struct LiveParametersData {
   valid @0 :Bool;
   gyroBias @1 :Float32;
   angleOffset @2 :Float32;
+  angleOffsetAverage @3 :Float32;
+  stiffnessFactor @4 :Float32;
+  steerRatio @5 :Float32;
+  sensorValid @6 :Bool;
 }
 
+struct LiveMapData {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedAdvisoryValid @12 :Bool;
+  speedAdvisory @13 :Float32;
+  speedLimitAheadValid @14 :Bool;
+  speedLimitAhead @15 :Float32;
+  speedLimitAheadDistance @16 :Float32;
+  curvatureValid @2 :Bool;
+  curvature @3 :Float32;
+  wayId @4 :UInt64;
+  roadX @5 :List(Float32);
+  roadY @6 :List(Float32);
+  lastGps @7: GpsLocationData;
+  roadCurvatureX @8 :List(Float32);
+  roadCurvature @9 :List(Float32);
+  distToTurn @10 :Float32;
+  mapValid @11 :Bool;
+}
+
+struct CameraOdometry {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
+struct KalmanOdometry {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
 
 struct Event {
   # in nanoseconds?
@@ -1577,13 +1693,13 @@ struct Event {
     sensorEventDEPRECATED @4 :SensorEventData;
     can @5 :List(CanData);
     thermal @6 :ThermalData;
-    live100 @7 :Live100Data;
+    controlsState @7 :ControlsState;
     liveEventDEPRECATED @8 :List(LiveEventData);
     model @9 :ModelData;
     features @10 :CalibrationFeatures;
     sensorEvents @11 :List(SensorEventData);
     health @12 :HealthData;
-    live20 @13 :Live20Data;
+    radarState @13 :RadarState;
     liveUIDEPRECATED @14 :LiveUI;
     encodeIdx @15 :EncodeIndex;
     liveTracks @16 :List(LiveTracks);
@@ -1632,5 +1748,9 @@ struct Event {
     driverMonitoring @59 :DriverMonitoring;
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
+    liveMapData @62 :LiveMapData;
+    cameraOdometry @63 :CameraOdometry;
+    pathPlan @64 :PathPlan;
+    kalmanOdometry @65 :KalmanOdometry;
   }
 }

check_code_quality.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+RESULT=$?
+if [ $RESULT -eq 0 ]; then
+    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+    RESULT=$? & 3
+fi
+
+[ $RESULT -ne 0 ] && exit 1
+exit 0

common/clock.pyx

@@ -0,0 +1,16 @@
+from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
+
+cdef double readclock(int clock_id):
+    cdef timespec ts
+    cdef double current
+
+    clock_gettime(clock_id, &ts)
+    current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+    return current
+
+
+def monotonic_time():
+    return readclock(CLOCK_MONOTONIC_RAW)
+
+def sec_since_boot():
+    return readclock(CLOCK_BOOTTIME)

common/dbc.py

@@ -7,9 +7,9 @@ from collections import namedtuple, defaultdict
 
 def int_or_float(s):
   # return number, trying to maintain int format
-  try:
-    return int(s)
-  except ValueError:
+  if s.isdigit():
+    return int(s, 10)
+  else:
     return float(s)
 
 DBCSignal = namedtuple(
@@ -21,7 +21,7 @@ class dbc(object):
   def __init__(self, fn):
     self.name, _ = os.path.splitext(os.path.basename(fn))
     with open(fn) as f:
-      self.txt = f.read().split("\n")
+      self.txt = f.readlines()
     self._warned_addresses = set()
 
     # regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
@@ -51,7 +51,8 @@ class dbc(object):
         dat = bo_regexp.match(l)
 
         if dat is None:
-          print "bad BO", l
+          print("bad BO {0}".format(l))
+
         name = dat.group(2)
         size = int(dat.group(3))
         ids = int(dat.group(1), 0) # could be hex
@@ -67,8 +68,9 @@ class dbc(object):
         if dat is None:
           dat = sgm_regexp.match(l)
           go = 1
+
         if dat is None:
-          print "bad SG", l
+          print("bad SG {0}".format(l))
 
         sgname = dat.group(1)
         start_bit = int(dat.group(go+2))
@@ -90,12 +92,13 @@ class dbc(object):
         dat = val_regexp.match(l)
 
         if dat is None:
-          print "bad VAL", l
+          print("bad VAL {0}".format(l))
+
         ids = int(dat.group(1), 0) # could be hex
         sgname = dat.group(2)
         defvals = dat.group(3)
 
-        defvals = defvals.replace("?","\?") #escape sequence in C++
+        defvals = defvals.replace("?",r"\?") #escape sequence in C++
         defvals = defvals.split('"')[:-1]
 
         defs = defvals[1::2]
@@ -109,7 +112,7 @@ class dbc(object):
 
         self.def_vals[ids].append((sgname, defvals))
 
-    for msg in self.msgs.viewvalues():
+    for msg in self.msgs.values():
       msg[1].sort(key=lambda x: x.start_bit)
 
     self.msg_name_to_address = {}
@@ -208,7 +211,7 @@ class dbc(object):
 
     name = msg[0][0]
     if debug:
-      print name
+      print(name)
 
     st = x[2].ljust(8, '\x00')
     le, be = None, None
@@ -252,7 +255,7 @@ class dbc(object):
       tmp = tmp * factor + offset
 
       # if debug:
-      #   print "%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])
+      #   print("%40s  %2d %2d  %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1]))
 
       if arr is None:
         out[s[0]] = tmp

common/ffi_wrapper.py

@@ -4,9 +4,11 @@ import fcntl
 import hashlib
 from cffi import FFI
 
-TMPDIR = "/tmp/ccache"
 
-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
+def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
   cache = name + "_" + hashlib.sha1(c_code).hexdigest()
   try:
     os.mkdir(tmpdir)
@@ -20,7 +22,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
     try:
       mod = __import__(cache)
     except Exception:
-      print "cache miss", cache
+      print("cache miss {0}".format(cache))
       compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
       mod = __import__(cache)
   finally:
@@ -28,7 +30,11 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
 
   return mod.ffi, mod.lib
 
-def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
+
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
+  if libraries is None:
+    libraries = []
+
   ffibuilder = FFI()
   ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
   ffibuilder.cdef(c_header)
@@ -36,6 +42,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
   os.environ['CFLAGS'] = cflags
   ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
 
+
 def wrap_compiled(name, directory):
   sys.path.append(directory)
   mod = __import__(name)

common/file_helpers.py

@@ -0,0 +1,103 @@
+import os
+import shutil
+import tempfile
+from atomicwrites import AtomicWriter
+
+def mkdirs_exists_ok(path):
+  try:
+    os.makedirs(path)
+  except OSError:
+    if not os.path.isdir(path):
+      raise
+
+def rm_not_exists_ok(path):
+  try:
+    os.remove(path)
+  except OSError:
+    if os.path.exists(path):
+      raise
+
+def rm_tree_or_link(path):
+  if os.path.islink(path):
+    os.unlink(path)
+  elif os.path.isdir(path):
+    shutil.rmtree(path)
+
+def get_tmpdir_on_same_filesystem(path):
+  # TODO(mgraczyk): HACK, we should actually check for which filesystem.
+  normpath = os.path.normpath(path)
+  parts = normpath.split("/")
+  if len(parts) > 1:
+    if parts[1].startswith("raid"):
+      if len(parts) > 2 and parts[2] == "runner":
+        return "/{}/runner/tmp".format(parts[1])
+      elif len(parts) > 2 and parts[2] == "aws":
+        return "/{}/aws/tmp".format(parts[1])
+      else:
+        return "/{}/tmp".format(parts[1])
+    elif parts[1] == "aws":
+      return "/aws/tmp"
+    elif parts[1] == "scratch":
+      return "/scratch/tmp"
+  return "/tmp"
+
+class AutoMoveTempdir(object):
+  def __init__(self, target_path, temp_dir=None):
+    self._target_path = target_path
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    os.rename(self._path, self._target_path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    if type is None:
+      self.close()
+    else:
+      shutil.rmtree(self._path)
+
+class NamedTemporaryDir(object):
+  def __init__(self, temp_dir=None):
+    self._path = tempfile.mkdtemp(dir=temp_dir)
+
+  @property
+  def name(self):
+    return self._path
+
+  def close(self):
+    shutil.rmtree(self._path)
+
+  def __enter__(self): return self
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+def _get_fileobject_func(writer, temp_dir):
+  def _get_fileobject():
+    file_obj = writer.get_fileobject(dir=temp_dir)
+    os.chmod(file_obj.name, 0o644)
+    return file_obj
+  return _get_fileobject
+
+def atomic_write_on_fs_tmp(path, **kwargs):
+  """Creates an atomic writer using a temporary file in a temporary directory
+     on the same filesystem as path.
+  """
+  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
+  #                 directory.
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+
+
+def atomic_write_in_dir(path, **kwargs):
+  """Creates an atomic writer using a temporary file in the same directory
+     as the destination file.
+  """
+  writer = AtomicWriter(path, **kwargs)
+  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
+

common/fingerprints.py

@@ -61,4 +61,4 @@ def eliminate_incompatible_cars(msg, candidate_cars):
 
 def all_known_cars():
   """Returns a list of all known car strings."""
-  return _FINGERPRINTS.keys()
+  return list(_FINGERPRINTS.keys())

common/kalman/Makefile

@@ -0,0 +1,10 @@
+all: simple_kalman_impl.so
+
+simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
+	python simple_kalman_setup.py build_ext --inplace
+	rm -rf build
+	rm simple_kalman_impl.c
+
+.PHONY: clean
+clean:
+	rm -f simple_kalman_impl.so

common/kalman/simple_kalman.py

@@ -1,23 +1,10 @@
-import numpy as np
+# pylint: skip-file
+import os
+import subprocess
 
+kalman_dir = os.path.dirname(os.path.abspath(__file__))
+subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)
 
-class KF1D:
-  # this EKF assumes constant covariance matrix, so calculations are much simpler
-  # the Kalman gain also needs to be precomputed using the control module
-
-  def __init__(self, x0, A, C, K):
-    self.x = x0
-    self.A = A
-    self.C = C
-    self.K = K
-
-    self.A_K = self.A - np.dot(self.K, self.C)
-
-    # K matrix needs to  be pre-computed as follow:
-    # import control
-    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
-    # self.K = np.transpose(K)
-
-  def update(self, meas):
-    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
-    return self.x
+from simple_kalman_impl import KF1D as KF1D
+# Silence pyflakes
+assert KF1D

common/kalman/simple_kalman_impl.pxd

@@ -0,0 +1,16 @@
+cdef class KF1D:
+  cdef public:
+    double x0_0
+    double x1_0
+    double K0_0
+    double K1_0
+    double A0_0
+    double A0_1
+    double A1_0
+    double A1_1
+    double C0_0
+    double C0_1
+    double A_K_0
+    double A_K_1
+    double A_K_2
+    double A_K_3

common/kalman/simple_kalman_impl.pyx

@@ -0,0 +1,35 @@
+
+cdef class KF1D:
+  def __init__(self, x0, A, C, K):
+    self.x0_0 = x0[0][0]
+    self.x1_0 = x0[1][0]
+    self.A0_0 = A[0][0]
+    self.A0_1 = A[0][1]
+    self.A1_0 = A[1][0]
+    self.A1_1 = A[1][1]
+    self.C0_0 = C[0]
+    self.C0_1 = C[1]
+    self.K0_0 = K[0][0]
+    self.K1_0 = K[1][0]
+
+    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
+    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
+    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
+    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
+
+  def update(self, meas):
+    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
+    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
+    self.x0_0 = x0_0
+    self.x1_0 = x1_0
+
+    return [self.x0_0, self.x1_0]
+
+  @property
+  def x(self):
+    return [[self.x0_0], [self.x1_0]]
+
+  @x.setter
+  def x(self, x):
+    self.x0_0 = x[0][0]
+    self.x1_0 = x[1][0]

common/kalman/simple_kalman_old.py

@@ -0,0 +1,23 @@
+import numpy as np
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x = x0
+    self.A = A
+    self.C = C
+    self.K = K
+
+    self.A_K = self.A - np.dot(self.K, self.C)
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    return self.x

common/kalman/simple_kalman_setup.py

@@ -0,0 +1,5 @@
+from distutils.core import setup, Extension
+from Cython.Build import cythonize
+
+setup(name='Simple Kalman Implementation',
+      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))

common/kalman/tests/test_ekf.py

@@ -0,0 +1,116 @@
+import numpy as np
+import numpy.matlib
+import unittest
+import timeit
+
+from common.kalman.ekf import EKF, SimpleSensor, FastEKF1D
+
+class TestEKF(EKF):
+  def __init__(self, var_init, Q):
+    super(TestEKF, self).__init__(False)
+    self.identity = numpy.matlib.identity(2)
+    self.state = numpy.matlib.zeros((2, 1))
+    self.covar = self.identity * var_init
+
+    self.process_noise = numpy.matlib.diag(Q)
+
+  def calc_transfer_fun(self, dt):
+    tf = numpy.matlib.identity(2)
+    tf[0, 1] = dt
+    return tf, tf
+
+
+class EKFTest(unittest.TestCase):
+  def test_update_scalar(self):
+    ekf = TestEKF(1e3, [0.1, 1])
+    dt = 1. / 100
+
+    sensor = SimpleSensor(0, 1, 2)
+    readings = map(sensor.read, np.arange(100, 300))
+
+    for reading in readings:
+      ekf.update_scalar(reading)
+      ekf.predict(dt)
+
+    np.testing.assert_allclose(ekf.state, [[300], [100]], 1e-4)
+    np.testing.assert_allclose(
+      ekf.covar,
+      np.asarray([[0.0563, 0.10278], [0.10278, 0.55779]]),
+      atol=1e-4)
+
+  def test_unbiased(self):
+    ekf = TestEKF(1e3, [0., 0.])
+    dt = np.float64(1. / 100)
+
+    sensor = SimpleSensor(0, 1, 2)
+    readings = map(sensor.read, np.arange(1000))
+
+    for reading in readings:
+      ekf.update_scalar(reading)
+      ekf.predict(dt)
+
+    np.testing.assert_allclose(ekf.state, [[1000.], [100.]], 1e-4)
+
+
+class FastEKF1DTest(unittest.TestCase):
+  def test_correctness(self):
+    dt = 1. / 100
+    reading = SimpleSensor(0, 1, 2).read(100)
+
+    ekf = TestEKF(1e3, [0.1, 1])
+    fast_ekf = FastEKF1D(dt, 1e3, [0.1, 1])
+
+    ekf.update_scalar(reading)
+    fast_ekf.update_scalar(reading)
+    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
+    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
+    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
+    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
+    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
+
+    ekf.predict(dt)
+    fast_ekf.predict(dt)
+    self.assertAlmostEqual(ekf.state[0]   , fast_ekf.state[0])
+    self.assertAlmostEqual(ekf.state[1]   , fast_ekf.state[1])
+    self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
+    self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
+    self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
+
+  def test_speed(self):
+    setup = """
+import numpy as np
+from common.kalman.tests.test_ekf import TestEKF
+from common.kalman.ekf import SimpleSensor, FastEKF1D
+
+dt = 1. / 100
+reading = SimpleSensor(0, 1, 2).read(100)
+
+var_init, Q = 1e3, [0.1, 1]
+ekf = TestEKF(var_init, Q)
+fast_ekf = FastEKF1D(dt, var_init, Q)
+    """
+
+    timeit.timeit("""
+ekf.update_scalar(reading)
+ekf.predict(dt)
+    """, setup=setup, number=1000)
+
+    ekf_speed = timeit.timeit("""
+ekf.update_scalar(reading)
+ekf.predict(dt)
+    """, setup=setup, number=20000)
+
+    timeit.timeit("""
+fast_ekf.update_scalar(reading)
+fast_ekf.predict(dt)
+    """, setup=setup, number=1000)
+
+    fast_ekf_speed = timeit.timeit("""
+fast_ekf.update_scalar(reading)
+fast_ekf.predict(dt)
+    """, setup=setup, number=20000)
+
+    assert fast_ekf_speed < ekf_speed / 4
+
+if __name__ == "__main__":
+  unittest.main()

common/kalman/tests/test_simple_kalman.py

@@ -0,0 +1,85 @@
+import unittest
+import random
+import timeit
+import numpy as np
+
+from common.kalman.simple_kalman import KF1D
+from common.kalman.simple_kalman_old import KF1D as KF1D_old
+
+
+class TestSimpleKalman(unittest.TestCase):
+  def setUp(self):
+    dt = 0.01
+    x0_0 = 0.0
+    x1_0 = 0.0
+    A0_0 = 1.0
+    A0_1 = dt
+    A1_0 = 0.0
+    A1_1 = 1.0
+    C0_0 = 1.0
+    C0_1 = 0.0
+    K0_0 = 0.12287673
+    K1_0 = 0.29666309
+
+    self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
+                           A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
+                           C=np.matrix([C0_0, C0_1]),
+                           K=np.matrix([[K0_0], [K1_0]]))
+
+    self.kf = KF1D(x0=[[x0_0], [x1_0]],
+                   A=[[A0_0, A0_1], [A1_0, A1_1]],
+                   C=[C0_0, C0_1],
+                   K=[[K0_0], [K1_0]])
+
+  def test_getter_setter(self):
+    self.kf.x = [[1.0], [1.0]]
+    self.assertEqual(self.kf.x, [[1.0], [1.0]])
+
+  def update_returns_state(self):
+      x = self.kf.update(100)
+      self.assertEqual(x, self.kf.x)
+
+  def test_old_equal_new(self):
+    for _ in range(1000):
+      v_wheel = random.uniform(0, 200)
+
+      x_old = self.kf_old.update(v_wheel)
+      x = self.kf.update(v_wheel)
+
+      # Compare the output x, verify that the error is less than 1e-4
+      self.assertAlmostEqual(x_old[0], x[0])
+      self.assertAlmostEqual(x_old[1], x[1])
+
+
+  def test_new_is_faster(self):
+    setup = """
+import numpy as np
+
+from common.kalman.simple_kalman import KF1D
+from common.kalman.simple_kalman_old import KF1D as KF1D_old
+
+dt = 0.01
+x0_0 = 0.0
+x1_0 = 0.0
+A0_0 = 1.0
+A0_1 = dt
+A1_0 = 0.0
+A1_1 = 1.0
+C0_0 = 1.0
+C0_1 = 0.0
+K0_0 = 0.12287673
+K1_0 = 0.29666309
+
+kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
+                  A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
+                  C=np.matrix([C0_0, C0_1]),
+                  K=np.matrix([[K0_0], [K1_0]]))
+
+kf = KF1D(x0=[[x0_0], [x1_0]],
+          A=[[A0_0, A0_1], [A1_0, A1_1]],
+          C=[C0_0, C0_1],
+          K=[[K0_0], [K1_0]])
+    """
+    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
+    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
+    self.assertTrue(kf_speed < kf_old_speed / 4)

common/params.py

@@ -29,6 +29,7 @@ import fcntl
 import tempfile
 from enum import Enum
 
+
 def mkdirs_exists_ok(path):
   try:
     os.makedirs(path)
@@ -36,48 +37,48 @@ def mkdirs_exists_ok(path):
     if not os.path.isdir(path):
       raise
 
+
 class TxType(Enum):
   PERSISTENT = 1
   CLEAR_ON_MANAGER_START = 2
-  CLEAR_ON_CAR_START = 3
+  CLEAR_ON_PANDA_DISCONNECT = 3
+
 
 class UnknownKeyName(Exception):
   pass
 
+
 keys = {
-# written: manager
-# read:    loggerd, uploaderd, offroad
-  "DongleId": TxType.PERSISTENT,
-  "AccessToken": TxType.PERSISTENT,
-  "Version": TxType.PERSISTENT,
-  "TrainingVersion": TxType.PERSISTENT,
-  "GitCommit": TxType.PERSISTENT,
-  "GitBranch": TxType.PERSISTENT,
-  "GitRemote": TxType.PERSISTENT,
-# written: baseui
-# read:    ui, controls
-  "IsMetric": TxType.PERSISTENT,
-  "IsFcwEnabled": TxType.PERSISTENT,
-  "HasAcceptedTerms": TxType.PERSISTENT,
-  "CompletedTrainingVersion": TxType.PERSISTENT,
-  "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
-  "IsDriverMonitoringEnabled": TxType.PERSISTENT,
-  "IsGeofenceEnabled": TxType.PERSISTENT,
-# written: visiond
-# read:    visiond, controlsd
-  "CalibrationParams": TxType.PERSISTENT,
-# written: controlsd
-# read:    radard
-  "CarParams": TxType.CLEAR_ON_CAR_START,
-
-  "Passive": TxType.PERSISTENT,
-  "DoUninstall": TxType.CLEAR_ON_MANAGER_START,
-  "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
-  "IsUpdateAvailable": TxType.PERSISTENT,
-
-  "RecordFront": TxType.PERSISTENT,
+  "AccessToken": [TxType.PERSISTENT],
+  "CalibrationParams": [TxType.PERSISTENT],
+  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "CompletedTrainingVersion": [TxType.PERSISTENT],
+  "ControlsParams": [TxType.PERSISTENT],
+  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
+  "DongleId": [TxType.PERSISTENT],
+  "GitBranch": [TxType.PERSISTENT],
+  "GitCommit": [TxType.PERSISTENT],
+  "GitRemote": [TxType.PERSISTENT],
+  "HasAcceptedTerms": [TxType.PERSISTENT],
+  "IsDriverMonitoringEnabled": [TxType.PERSISTENT],
+  "IsFcwEnabled": [TxType.PERSISTENT],
+  "IsGeofenceEnabled": [TxType.PERSISTENT],
+  "IsMetric": [TxType.PERSISTENT],
+  "IsUpdateAvailable": [TxType.PERSISTENT],
+  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
+  "LimitSetSpeed": [TxType.PERSISTENT],
+  "LiveParameters": [TxType.PERSISTENT],
+  "LongitudinalControl": [TxType.PERSISTENT],
+  "Passive": [TxType.PERSISTENT],
+  "RecordFront": [TxType.PERSISTENT],
+  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
+  "SpeedLimitOffset": [TxType.PERSISTENT],
+  "SubscriberInfo": [TxType.PERSISTENT],
+  "TrainingVersion": [TxType.PERSISTENT],
+  "Version": [TxType.PERSISTENT],
 }
 
+
 def fsync_dir(path):
   fd = os.open(path, os.O_RDONLY)
   try:
@@ -308,14 +309,14 @@ class Params(object):
   def _clear_keys_with_type(self, tx_type):
     with self.transaction(write=True) as txn:
       for key in keys:
-        if keys[key] == tx_type:
+        if tx_type in keys[key]:
           txn.delete(key)
 
   def manager_start(self):
     self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
 
-  def car_start(self):
-    self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
+  def panda_disconnect(self):
+    self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
 
   def delete(self, key):
     with self.transaction(write=True) as txn:

common/realtime.py

@@ -2,58 +2,24 @@
 import os
 import time
 import platform
-import threading
 import subprocess
 import multiprocessing
-
 from cffi import FFI
+
+# Build and load cython module
+import pyximport
+installer = pyximport.install(inplace=True, build_dir='/tmp')
+from common.clock import monotonic_time, sec_since_boot  # pylint: disable=no-name-in-module, import-error
+pyximport.uninstall(*installer)
+assert monotonic_time
+assert sec_since_boot
+
+
 ffi = FFI()
-ffi.cdef("""
-
-typedef int clockid_t;
-struct timespec {
-    long tv_sec;   /* Seconds.  */
-    long tv_nsec;  /* Nanoseconds.  */
-};
-int clock_gettime (clockid_t clk_id, struct timespec *tp);
-
-long syscall(long number, ...);
-
-"""
-)
+ffi.cdef("long syscall(long number, ...);")
 libc = ffi.dlopen(None)
 
 
-# see <linux/time.h>
-CLOCK_MONOTONIC_RAW = 4
-CLOCK_BOOTTIME = 7
-
-if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
-  c_clock_gettime = libc.clock_gettime
-
-  tlocal = threading.local()
-  def clock_gettime(clk_id):
-    if not hasattr(tlocal, 'ts'):
-      tlocal.ts = ffi.new('struct timespec *')
-
-    ts = tlocal.ts
-
-    r = c_clock_gettime(clk_id, ts)
-    if r != 0:
-      raise OSError("clock_gettime")
-    return ts.tv_sec + ts.tv_nsec * 1e-9
-else:
-  # hack. only for OS X < 10.12
-  def clock_gettime(clk_id):
-    return time.time()
-
-def monotonic_time():
-  return clock_gettime(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return clock_gettime(CLOCK_BOOTTIME)
-
-
 def set_realtime_priority(level):
   if os.getuid() != 0:
     print("not setting priority, not root")
@@ -99,10 +65,9 @@ class Ratekeeper(object):
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
-    if remaining < -self._print_delay_threshold:
+    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
       print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
       lagged = True
     self._frame += 1
     self._remaining = remaining
     return lagged
-

common/sympy_helpers.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python
+import sympy as sp
+import numpy as np
+
+def cross(x):
+  ret = sp.Matrix(np.zeros((3,3)))
+  ret[0,1], ret[0,2] = -x[2], x[1]
+  ret[1,0], ret[1,2] = x[2], -x[0]
+  ret[2,0], ret[2,1] = -x[1], x[0]
+  return ret
+
+def euler_rotate(roll, pitch, yaw):
+  # make symbolic rotation matrix from eulers
+  matrix_roll =  sp.Matrix([[1, 0, 0],
+                            [0, sp.cos(roll), -sp.sin(roll)],
+                            [0, sp.sin(roll), sp.cos(roll)]])
+  matrix_pitch =  sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
+                             [0, 1, 0],
+                             [-sp.sin(pitch), 0, sp.cos(pitch)]])
+  matrix_yaw =  sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
+                           [sp.sin(yaw), sp.cos(yaw), 0],
+                           [0, 0, 1]])
+  return matrix_yaw*matrix_pitch*matrix_roll
+
+def quat_rotate(q0, q1, q2, q3):
+  # make symbolic rotation matrix from quat
+  return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 + q0*q3), 2*(q1*q3 - q0*q2)],
+                    [2*(q1*q2 - q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 + q0*q1)],
+                    [2*(q1*q3 + q0*q2), 2*(q2*q3 - q0*q1), q0**2 - q1**2 - q2**2 + q3**2]]).T
+
+def quat_matrix_l(p):
+  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
+                    [p[1],  p[0], -p[3],  p[2]],
+                    [p[2],  p[3],  p[0], -p[1]],
+                    [p[3], -p[2],  p[1],  p[0]]])
+
+def quat_matrix_r(p):
+  return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
+                    [p[1],  p[0],  p[3], -p[2]],
+                    [p[2], -p[3],  p[0],  p[1]],
+                    [p[3],  p[2], -p[1],  p[0]]])
+
+
+def sympy_into_c(sympy_functions):
+  from sympy.utilities import codegen
+  routines = []
+  for name, expr, args in sympy_functions:
+    r = codegen.make_routine(name, expr, language="C99")
+
+    # argument ordering input to sympy is broken with function with output arguments
+    nargs = []
+    # reorder the input arguments
+    for aa in args:
+      if aa is None:
+        nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1,1]))
+        continue
+      found = False
+      for a in r.arguments:
+        if str(aa.name) == str(a.name):
+          nargs.append(a)
+          found = True
+          break
+      if not found:
+        # [1,1] is a hack for Matrices
+        nargs.append(codegen.InputArgument(aa, dimensions=[1,1]))
+    # add the output arguments
+    for a in r.arguments:
+      if type(a) == codegen.OutputArgument:
+        nargs.append(a)
+
+    #assert len(r.arguments) == len(args)+1
+    r.arguments = nargs
+
+    # add routine to list
+    routines.append(r)
+
+  [(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
+  c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
+  c_header = '\n'.join(x for x in  c_header.split("\n") if len(x) > 0 and x[0] != '#')
+
+  return c_header, c_code

common/timeout.py

@@ -0,0 +1,28 @@
+import signal
+
+class TimeoutException(Exception):
+  pass
+
+class Timeout:
+  """
+  Timeout context manager.
+  For example this code will raise a TimeoutException:
+  with Timeout(seconds=5, error_msg="Sleep was too long"):
+    time.sleep(10)
+  """
+  def __init__(self, seconds, error_msg=None):
+    if error_msg is None:
+      error_msg = 'Timed out after {} seconds'.format(seconds)
+    self.seconds = seconds
+    self.error_msg = error_msg
+
+  def handle_timeout(self, signume, frame):
+    raise TimeoutException(self.error_msg)
+
+  def __enter__(self):
+    signal.signal(signal.SIGALRM, self.handle_timeout)
+    signal.alarm(self.seconds)
+
+  def __exit__(self, exc_type, exc_val, exc_tb):
+    signal.alarm(0)
+

common/transformations/camera.py

@@ -1,5 +1,7 @@
 import numpy as np
 import common.transformations.orientation as orient
+import cv2
+import math
 
 FULL_FRAME_SIZE = (1164, 874)
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@@ -11,6 +13,17 @@ eon_intrinsics = np.array([
   [  0.,  FOCAL,  H/2.],
   [  0.,    0.,     1.]])
 
+
+leon_dcam_intrinsics = np.array([
+  [650,   0,   816//2],
+  [  0,  650,  612//2],
+  [  0,    0,     1]])
+
+eon_dcam_intrinsics = np.array([
+  [860,   0,   1152//2],
+  [  0,  860,  864//2],
+  [  0,    0,     1]])
+
 # aka 'K_inv' aka view_frame_from_camera_frame
 eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
 
@@ -28,21 +41,13 @@ view_frame_from_device_frame = device_frame_from_view_frame.T
 def get_calib_from_vp(vp):
   vp_norm = normalize(vp)
   yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  # TODO should be, this but written
-  # to be compatible with meshcalib and
-  # get_view_frame_from_road_fram
-  #pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
   roll_calib = 0
   return roll_calib, pitch_calib, yaw_calib
 
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-  # TODO
-  # calibration pitch is currently defined
-  # opposite to pitch in device frame
-  pitch = -pitch
   device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
   view_from_road = view_frame_from_device_frame.dot(device_from_road)
   return np.hstack((view_from_road, [[0], [height], [0]]))
@@ -62,31 +67,35 @@ def roll_from_ke(m):
   return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
                     -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
 
-def normalize(img_pts):
+
+def normalize(img_pts, intrinsics=eon_intrinsics):
   # normalizes image coordinates
   # accepts single pt or array of pts
+  intrinsics_inv = np.linalg.inv(intrinsics)
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
   img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_normalized = eon_intrinsics_inv.dot(img_pts.T).T
+  img_pts_normalized = img_pts.dot(intrinsics_inv.T)
   img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
   return img_pts_normalized[:,:2].reshape(input_shape)
 
-def denormalize(img_pts):
+
+def denormalize(img_pts, intrinsics=eon_intrinsics):
   # denormalizes image coordinates
   # accepts single pt or array of pts
   img_pts = np.array(img_pts)
   input_shape = img_pts.shape
   img_pts = np.atleast_2d(img_pts)
   img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_denormalized = eon_intrinsics.dot(img_pts.T).T
+  img_pts_denormalized = img_pts.dot(intrinsics.T)
   img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
   img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
   img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
   img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
   return img_pts_denormalized[:,:2].reshape(input_shape)
 
+
 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
   # device from ecef frame
   # device frame is x -> forward, y-> right, z -> down
@@ -99,6 +108,7 @@ def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
   pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
   return pt_device.reshape(input_shape)
 
+
 def img_from_device(pt_device):
   # img coordinates from pts in device frame
   # first transforms to view frame, then to img coords
@@ -113,3 +123,91 @@ def img_from_device(pt_device):
   pt_img = pt_view/pt_view[:,2:3]
   return pt_img.reshape(input_shape)[:,:2]
 
+
+#TODO please use generic img transform below
+def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
+  size = img.shape[:2]
+  rot = orient.rot_from_euler(eulers)
+  quadrangle = np.array([[0, 0],
+                         [size[1]-1, 0],
+                         [0, size[0]-1],
+                         [size[1]-1, size[0]-1]], dtype=np.float32)
+  quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
+  warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
+  warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
+                                       warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
+  if crop:
+    W_border = (size[1] - crop[0])/2
+    H_border = (size[0] - crop[1])/2
+    outside_crop = (((warped_quadrangle[:,0] < W_border) |
+                     (warped_quadrangle[:,0] >= size[1] - W_border)) &
+                    ((warped_quadrangle[:,1] < H_border) |
+                     (warped_quadrangle[:,1] >= size[0] - H_border)))
+    if not outside_crop.all():
+      raise ValueError("warped image not contained inside crop")
+  else:
+    H_border, W_border = 0, 0
+  M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
+  img_warped = cv2.warpPerspective(img, M, size[::-1])
+  return img_warped[H_border: size[0] - H_border,
+                    W_border: size[1] - W_border]
+
+
+def transform_img(base_img,
+                 augment_trans=np.array([0,0,0]),
+                 augment_eulers=np.array([0,0,0]),
+                 from_intr=eon_intrinsics,
+                 to_intr=eon_intrinsics,
+                 calib_rot_view=None,
+                 output_size=None,
+                 pretransform=None,
+                 top_hacks=True):
+  size = base_img.shape[:2]
+  if not output_size:
+    output_size = size[::-1]
+
+  cy = from_intr[1,2]
+  def get_M(h=1.22):
+    quadrangle = np.array([[0, cy + 20],
+                           [size[1]-1, cy + 20],
+                           [0, size[0]-1],
+                           [size[1]-1, size[0]-1]], dtype=np.float32)
+    quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
+    quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
+                                        h*np.ones(4),
+                                        h/quadrangle_norm[:,1]))
+    rot = orient.rot_from_euler(augment_eulers)
+    if calib_rot_view is not None:
+      rot = calib_rot_view.dot(rot)
+    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
+    to_KE = to_intr.dot(to_extrinsics)
+    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
+    warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
+                                         warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
+    M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
+    return M
+
+  M = get_M()
+  if pretransform is not None:
+    M = M.dot(pretransform)
+  augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
+
+  if top_hacks:
+    cyy = int(math.ceil(to_intr[1,2]))
+    M = get_M(1000)
+    if pretransform is not None:
+      M = M.dot(pretransform)
+    augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
+
+  return augmented_rgb
+
+def yuv_crop(frame, output_size, center=None):
+  # output_size in camera coordinates so u,v
+  # center in array coordinates so row, column
+  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
+  if not center:
+    center = (rgb.shape[0]/2, rgb.shape[1]/2)
+  rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
+                 center[1] - output_size[0]/2: center[1] + output_size[0]/2]
+  return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
+

common/transformations/model.py

@@ -1,9 +1,8 @@
 import numpy as np
 
 from common.transformations.camera import eon_focal_length, \
-	vp_from_ke, \
-	get_view_frame_from_road_frame, \
-	FULL_FRAME_SIZE
+        vp_from_ke, get_view_frame_from_road_frame, \
+        FULL_FRAME_SIZE
 
 # segnet
 
@@ -31,6 +30,18 @@ model_intrinsics = np.array(
    [   0. ,                            0. ,   1.]])
 
 
+# MED model
+MEDMODEL_INPUT_SIZE = (512, 256)
+MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
+MEDMODEL_CY = 47.6
+
+medmodel_zoom = 1.
+medmodel_intrinsics = np.array(
+  [[ eon_focal_length / medmodel_zoom,    0. ,  0.5 * MEDMODEL_INPUT_SIZE[0]],
+   [   0. ,  eon_focal_length / medmodel_zoom,  MEDMODEL_CY],
+   [   0. ,                            0. ,   1.]])
+
+
 # BIG model
 
 BIGMODEL_INPUT_SIZE = (864, 288)
@@ -57,6 +68,9 @@ model_frame_from_road_frame = np.dot(model_intrinsics,
 bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
 
+medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 
 # 'camera from model camera'
@@ -83,7 +97,7 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
 
 # camera_frame_from_model_frame aka 'warp matrix'
 # was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
+def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
   vp = vp_from_ke(camera_frame_from_road_frame)
 
   model_camera_from_model_frame = np.array([
@@ -102,6 +116,16 @@ def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
   return np.dot(camera_from_model_camera, model_camera_from_model_frame)
 
 
+def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
+  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
+  medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
+
+  ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
+  camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
+
+  return camera_frame_from_medmodel_frame
+
+
 def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
   camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
   bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
@@ -110,3 +134,17 @@ def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
   camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
 
   return camera_frame_from_bigmodel_frame
+
+
+def get_model_frame(snu_full, camera_frame_from_model_frame, size):
+  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
+                                                            np.tile(np.arange(size[1]), (size[0],1)).T.flatten(),
+                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
+  calib_flat = snu_full[idxs[:,1], idxs[:,0]]
+  if len(snu_full.shape) == 3:
+    calib = calib_flat.reshape((size[1], size[0], 3))
+  elif len(snu_full.shape) == 2:
+    calib = calib_flat.reshape((size[1], size[0]))
+  else:
+    raise ValueError("shape of input img is weird")
+  return calib

common/transformations/orientation.py

@@ -221,6 +221,8 @@ def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
   ecef_poses = array(ecef_poses)
   output_shape = ecef_poses.shape
   ned_ecef_init = np.atleast_2d(ned_ecef_init)
+  if ned_ecef_init.shape[0] == 1:
+    ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1))
   ecef_poses = np.atleast_2d(ecef_poses)
 
   ned_poses = np.zeros(ecef_poses.shape)

common/vin.py

@@ -0,0 +1,95 @@
+#!/usr/bin/env python
+import time
+from common.realtime import sec_since_boot
+import selfdrive.messaging as messaging
+from selfdrive.boardd.boardd import can_list_to_can_capnp
+
+def get_vin(logcan, sendcan):
+
+  # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
+  # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
+  query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
+               [0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
+
+  cnts = [1, 2]  # Number of messages to wait for at each iteration
+  vin_valid = True
+
+  dat = []
+  for i in range(len(query_msg)):
+    cnt = 0
+    sendcan.send(can_list_to_can_capnp([query_msg[i]], msgtype='sendcan'))
+    got_response = False
+    t_start = sec_since_boot()
+    while sec_since_boot() - t_start < 0.05 and not got_response:
+      for a in messaging.drain_sock(logcan):
+        for can in a.can:
+          if can.src == 0 and can.address == 0x7e8:
+            vin_valid = vin_valid and is_vin_response_valid(can.dat, i, cnt)
+            dat += can.dat[2:] if i == 0 else can.dat[1:]
+            cnt += 1
+            if cnt == cnts[i]:
+              got_response = True
+      time.sleep(0.01)
+
+  return "".join(dat[3:]) if vin_valid else ""
+
+"""
+if 'vin' not in gctx:
+  print "getting vin"
+  gctx['vin'] = query_vin()[3:]
+  print "got VIN %s" % (gctx['vin'],)
+  cloudlog.info("got VIN %s" % (gctx['vin'],))
+
+# *** determine platform based on VIN ****
+if vin.startswith("19UDE2F36G"):
+  print "ACURA ILX 2016"
+  self.civic = False
+else:
+  # TODO: add Honda check explicitly
+  print "HONDA CIVIC 2016"
+  self.civic = True
+
+# *** special case VIN of Acura test platform
+if vin == "19UDE2F36GA001322":
+  print "comma.ai test platform detected"
+  # it has a gas interceptor and a torque mod
+  self.torque_mod = True
+"""
+
+
+# sanity checks on response messages from vin query
+def is_vin_response_valid(can_dat, step, cnt):
+
+  can_dat = [ord(i) for i in can_dat]
+
+  if len(can_dat) != 8:
+    # ISO-TP meesages are all 8 bytes
+    return False
+
+  if step == 0:
+    # VIN does not fit in a single message and it's 20 bytes of data
+    if can_dat[0] != 0x10 or can_dat[1] != 0x14:
+       return False
+
+  if step == 1 and cnt == 0:
+    # first response after a CONTINUE query is sent
+    if can_dat[0] != 0x21:
+       return False
+
+  if step == 1 and cnt == 1:
+    # second response after a CONTINUE query is sent
+    if can_dat[0] != 0x22:
+       return False
+
+  return True
+
+
+if __name__ == "__main__":
+  import zmq
+  from selfdrive.services import service_list
+  context = zmq.Context()
+  logcan = messaging.sub_sock(context, service_list['can'].port)
+  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
+  time.sleep(1.)   # give time to sendcan socket to start
+
+  print get_vin(logcan, sendcan)

launch_chffrplus.sh

@@ -19,6 +19,8 @@ function launch {
   echo 0-3 > /dev/cpuset/foreground/cpus
   echo 0-3 > /dev/cpuset/android/cpus
 
+  # handle pythonpath
+  ln -s /data/openpilot /data/pythonpath
   export PYTHONPATH="$PWD"
 
   # start manager

opendbc/acura_ilx_2016_can_generated.dbc

@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -155,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -268,12 +278,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -293,7 +297,7 @@ 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" ;

opendbc/acura_rdx_2018_can_generated.dbc

@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -155,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -257,12 +267,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -288,6 +292,7 @@ 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";

opendbc/chrysler_pacifica_2017_hybrid.dbc

@@ -37,9 +37,9 @@ BU_: XXX
 
 
 BO_ 258 STEERING: 8 XXX
- SG_ INCREMENTING_STEERING : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_STEERING : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ UNKNOWN_STEERING : 48|3@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ UNKNOWN_STEERING : 50|3@0+ (1,0) [0|15] "" XXX
  SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
  SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
 
@@ -59,30 +59,30 @@ BO_ 820 DOORS: 8 XXX
  SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAM_DISPLAY : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 746 GEAR: 5 XXX
  SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX
  SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ GEAR_INCREMENTING : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 31|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 284 BRAKE_1: 8 XXX
  SG_ SPEED_RELATED_1 : 37|14@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_RELATED_1_2 : 18|11@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_RELATED_1_1 : 3|12@0+ (1,0) [0|255] "" XXX
- SG_ INCREMENTING_BRAKE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_BRAKE : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 320 BRAKE_2: 8 XXX
  SG_ SPEED_RELATED_2 : 47|8@0+ (1,0) [0|63] "" XXX
- SG_ INCREMENTING_140 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_140 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_PRESSED_2 : 2|3@0+ (1,0) [0|7] "" XXX
  SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 736 TRIP: 8 XXX
- SG_ DISTANCE_COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
- SG_ DISTANCE_COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
+ SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
+ SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
 
 BO_ 344 WHEEL_SPEEDS: 8 XXX
  SG_ WHEEL_SPEED_FL : 3|12@0+ (0.0189408,0) [0|65535] "m/s" XXX
@@ -96,37 +96,38 @@ BO_ 792 STEERING_LEVERS: 8 XXX
  SG_ HIGH_BEAM_FLASH : 3|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
- SG_ INCREMENTING_ACCEL_PEDAL : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_ACCEL_PEDAL : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 464 SEATBELT_STATUS: 8 XXX
  SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 544 LKAS_INDICATOR_1: 8 XXX
- SG_ LKAS_IS_GREEN : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_PARK_HAS_CONTROL_1 : 20|1@0+ (1,0) [0|1] "" XXX
- SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@1+ (1,0) [0|1] "" XXX
- SG_ INCREMENTING_220 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_220 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ UNKNOWN_220_2 : 34|11@0+ (1,0) [0|255] "" XXX
- SG_ UNKNOWN_220_1 : 19|12@0+ (1,0) [0|4095] "" XXX
- SG_ UNKNOWN_220_0 : 2|11@0+ (1,0) [0|63] "" XXX
+BO_ 544 EPS_STATUS: 8 XXX
+ SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ TORQUE_DRIVER : 2|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
+ SG_ TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 658 LKAS_INDICATOR_2: 6 XXX
- SG_ LKAS_INCREMENTING : 39|4@0+ (1,0) [0|15] "" XXX
- SG_ LKAS_CHECKSUM_2 : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ LKAS_STEERING_TORQUE_MAYBE : 3|12@0- (1,0) [0|63] "" XXX
+BO_ 658 LKAS_COMMAND: 6 XXX
+ SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKAS_STEERING_TORQUE : 2|11@0+ (1,-1024) [0|1] "" XXX
+ SG_ LKAS_HIGH_TORQUE : 4|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 678 LKAS_INDICATOR_3: 8 XXX
- SG_ WARNING_PLACE_HANDS : 22|2@0+ (1,0) [0|3] "" XXX
- SG_ LKAS_WHITE_OR_YELLOW : 0|1@1+ (1,0) [0|1] "" XXX
- SG_ LKAS_IS_YELLOW_2 : 19|1@1+ (1,0) [0|1] "" XXX
+BO_ 678 LKAS_HUD: 8 XXX
+ SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 705 AUTO_PARK_BUTTON: 8 XXX
- SG_ AUTO_PARK_TOGGLE_2 : 8|1@1+ (1,0) [0|1] "" XXX
+ SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX
  SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ INCREASING_UNKNOWN : 32|7@1+ (1,0) [0|15] "" XXX
+ SG_ INCREASING_UNKNOWN : 38|7@0+ (1,0) [0|15] "" XXX
 
 BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
  SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX
@@ -134,45 +135,45 @@ BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
 BO_ 671 AUTO_PARK_SIGNALS_2: 8 XXX
  SG_ AUTO_PARK_PARALLEL : 21|1@0+ (1,0) [0|1] "" XXX
  SG_ AUTO_PARK_PERPENDICULAR_1 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ INCREMENTING : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ AUTO_PARK_MAYBE_TURNING : 3|12@0+ (1,0) [0|1023] "" XXX
  SG_ AUTO_PARK_TURNING_STATUS : 7|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX
- SG_ INCREASING_UNKNOWN : 48|8@1+ (1,0) [0|7] "" XXX
+ SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX
  SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX
 
 BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX
  SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX
  SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX
- SG_ AUTO_PARK_GEAR_2 : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ AUTO_PARK_GEAR_3 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_GEAR_2 : 35|4@0+ (1,0) [0|15] "" XXX
+ SG_ AUTO_PARK_GEAR_3 : 51|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 332 STEERING_2: 8 XXX
- SG_ INCREMENTING_14C : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX
  SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
 
 BO_ 720 BLIND_SPOT_WARNINGS: 6 XXX
  SG_ BLIND_SPOT_RIGHT : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ BLIND_SPOT_LEFT : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ BLIND_SPOT_LEFT : 2|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 331 BRAKE_3: 8 XXX
  SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ INCREMENTING_14B : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_14B : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 608 PARKSENSE_SIGNAL: 8 XXX
  SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ INCREMENTING_260 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_260 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ IN_REVERSE : 10|1@1+ (1,0) [0|255] "" XXX
- SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@1+ (1,0) [0|255] "" XXX
- SG_ HUMAN_HAS_CONTROL : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ IN_REVERSE : 10|1@0+ (1,0) [0|255] "" XXX
+ SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@0+ (1,0) [0|255] "" XXX
+ SG_ HUMAN_HAS_CONTROL : 17|1@0+ (1,0) [0|3] "" XXX
 
-BO_ 729 LKAS_STATUS_1: 5 XXX
+BO_ 729 LKAS_HEARTBIT: 5 XXX
  SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 274 NEW_MSG_112: 2 XXX
@@ -182,13 +183,13 @@ BO_ 290 NEW_MSG_122: 6 XXX
 BO_ 376 NEW_MSG_178: 3 XXX
 
 BO_ 288 ACCEL_RELATED_120: 7 XXX
- SG_ UNKNOWN_INCREMENTING_120 : 47|4@0+ (1,0) [0|15] "" XXX
- SG_ UNKNOWN_CHECKSUM_120 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX
  SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 257 ACCEL_RELATED_101: 5 XXX
- SG_ ENERGY_OR_RPM : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 388 NEW_MSG_184: 4 XXX
 
@@ -201,18 +202,21 @@ BO_ 560 NEW_MSG_230: 4 XXX
 BO_ 564 NEW_MSG_234: 4 XXX
 
 BO_ 571 WHEEL_BUTTONS: 3 XXX
- SG_ CHECKSUM_23B : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ACC_FOLLOW_DEC : 1|1@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_FOLLOW_DEC : 1|1@0+ (1,0) [0|3] "" XXX
  SG_ ACC_SPEED_INC : 2|1@0+ (1,0) [0|255] "" XXX
- SG_ ACC_SPEED_DEC : 3|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_FOLLOW_INC : 8|1@1+ (1,0) [0|15] "" XXX
+ SG_ ACC_SPEED_DEC : 3|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_FOLLOW_INC : 8|1@0+ (1,0) [0|15] "" XXX
+ SG_ ACC_CANCEL : 0|1@0+ (1,0) [0|15] "" XXX
  SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACC_RESUME : 4|1@0+ (1,0) [0|15] "" XXX
 
 BO_ 669 NEW_MSG_29d: 3 XXX
- SG_ INCREMENTING_29D : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_29D : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 825 NEW_MSG_339: 2 XXX
+BO_ 825 AUDIBLE_BEEP_339: 2 XXX
+ SG_ BEEP_339 : 7|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 856 NEW_MSG_358: 4 XXX
 
@@ -232,60 +236,61 @@ BO_ 926 NEW_MSG_39e: 3 XXX
 
 BO_ 168 ACCEL_RELATED_a8: 8 XXX
  SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ INCREMENTING_A8 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_A8 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 270 ACCEL_RELATED_10e: 8 XXX
  SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX
- SG_ INCREMENTING_ACCEL : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_ACCEL : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX
 
 BO_ 291 ENERGY_RELATED_123: 8 XXX
  SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX
- SG_ INCREMENTING_123 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_123 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX
 
 BO_ 294 ENERGY_RELATED_126: 8 XXX
- SG_ CHECKSUM_126 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX
- SG_ INCREMENTING_126 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX
  SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX
 
 BO_ 300 NEW_MSG_12C: 8 XXX
 
 BO_ 308 ACCEL_GAS_134: 8 XXX
- SG_ INCREMENTING_134 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ ACCEL_134 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ ACCEL_134 : 43|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 532 ENERGY_RELATED_214: 8 XXX
  SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
  SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX
 
 BO_ 559 ACCEL_GAS_22F: 8 XXX
- SG_ ACCEL_22F : 0|4@1+ (1,0) [0|255] "" XXX
- SG_ INCREMENTING_22F : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_22F : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_22F : 3|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 655 CHARGING_MAYBE_28F: 8 XXX
- SG_ CHARGING : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ CHARGING : 1|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 660 BRAKE_RELATED_294: 8 XXX
- SG_ INCREMENTING_294 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM_294 : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ BRAKE_PERHAPS_294 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PERHAPS_294 : 31|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 764 ACCEL_RELATED_2FC: 8 XXX
- SG_ ACCEL_2FC : 8|6@1+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_2FC : 13|6@0+ (1,0) [0|255] "" XXX
 
 BO_ 816 TRACTION_BUTTON: 8 XXX
- SG_ TRACTION_OFF : 19|1@1+ (1,0) [0|3] "" XXX
+ SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX
+ SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 878 ACCEL_RELATED_36E: 8 XXX
  SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL_OR_RPM_1 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ ACCEL_OR_RPM_1 : 7|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 324 SPEED_2: 8 XXX
  SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX
@@ -298,33 +303,33 @@ BO_ 501 DASHBOARD: 8 XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 
 BO_ 639 NEW_MSG_27f: 8 XXX
- SG_ INCREASING : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 701 NEW_MSG_2bd: 8 XXX
- SG_ unknown_1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ unknown_1 : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 832 UNKNOWN_340: 8 XXX
- SG_ SPEED_DIGITAL : 56|8@1+ (1,0) [0|255] "mph" XXX
+ SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 
 BO_ 848 UNKNOWN_350: 8 XXX
- SG_ INCREASING_LSB : 0|6@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_LSB : 5|6@0+ (1,0) [0|255] "" XXX
  SG_ INCREASING_MSB : 12|5@0+ (1,0) [0|31] "" XXX
 
 BO_ 908 NEW_MSG_38c: 8 XXX
  SG_ INCREASING_MSB : 44|5@0+ (1,0) [0|31] "" XXX
- SG_ INCREASING_LSB : 56|6@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_LSB : 61|6@0+ (1,0) [0|255] "" XXX
 
 BO_ 938 NEW_MSG_3aa: 8 XXX
- SG_ INCREASING_UNKNOWN_1 : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ INCREASING_UNKNOWN_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_UNKNOWN_1 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_UNKNOWN_2 : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 940 NEW_MSG_3ac: 8 XXX
- SG_ INCREASING_1 : 32|4@1+ (1,0) [0|15] "" XXX
- SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_1 : 35|4@0+ (1,0) [0|15] "" XXX
+ SG_ INCREASING_2 : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 941 NEW_MSG_3ad: 8 XXX
- SG_ INCREASING_1 : 32|5@1+ (1,0) [0|31] "" XXX
- SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ INCREASING_1 : 36|5@0+ (1,0) [0|31] "" XXX
+ SG_ INCREASING_2 : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 500 ACC_2: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -335,29 +340,29 @@ BO_ 500 ACC_2: 8 XXX
  SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
 
 BO_ 625 ACC_1: 8 XXX
- SG_ SPEED : 24|8@1+ (1,0) [0|255] "km/h" XXX
+ SG_ SPEED : 31|8@0+ (1,0) [0|255] "km/h" XXX
  SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 
 BO_ 268 ACC_10c: 8 XXX
- SG_ BRAKE_PERHAPS : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 384 NEW_MSG_180: 8 XXX
  SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|8@0+ (1,0) [0|3] "" XXX
 
 BO_ 853 NEW_MSG_355: 8 XXX
 
 BO_ 939 NEW_MSG_3ab: 8 XXX
 
 BO_ 512 NEW_MSG_200: 8 XXX
- SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX
  SG_ INCREASING : 27|12@0+ (1,0) [0|127] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 
@@ -369,7 +374,7 @@ CM_ SG_ 514 SPEED_LEFT "TODO find upper limit";
 CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
 CM_ SG_ 820 TURN_LIGHT_LEFT "oscillates with the light blinking";
 CM_ SG_ 820 TURN_LIGHT_RIGHT "hazard blinks both right and left lights";
-CM_ SG_ 746 PRNDL "4=D, 3=N, 2=R, 1=P";
+CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P";
 CM_ SG_ 746 GEAR_CHECKSUM "different than the LKAS checksum. unknown non-simple algorithm. just build a lookup table for it.";
 CM_ SG_ 284 SPEED_RELATED_1 "Another Speed Signal, Maybe RPMs?";
 CM_ SG_ 284 BRAKE_RELATED_1_1 "Correlates with braking";
@@ -378,13 +383,14 @@ CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes";
 CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right";
 CM_ SG_ 792 HIGH_BEAM_FLASH "use this for genericToggle";
 CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed";
-CM_ SG_ 544 AUTO_PARK_HAS_CONTROL_1 "set when autopark has control";
-CM_ SG_ 658 LKAS_INCREMENTING "each message increments, 0..f";
-CM_ SG_ 658 LKAS_CHECKSUM_2 "checksum calculated with https://gist.github.com/adhintz/94bf8d19b9075539f50172ab0fb24ba1";
-CM_ SG_ 658 LKAS_STEERING_TORQUE_MAYBE "1024 is straight. most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s";
-CM_ SG_ 678 WARNING_PLACE_HANDS "set when warning displays place hands on steering wheel";
-CM_ SG_ 678 LKAS_WHITE_OR_YELLOW "set when indicator is yellow or white. could indicate lkas not on track.";
-CM_ SG_ 678 LKAS_IS_YELLOW_2 "set when indicator is yellow. could indicate lkas is steering.";
+CM_ SG_ 544 LKAS_STATE "2 when autopark has control, 8 when is actuatable by lkas, 4 when there is a fault";
+CM_ SG_ 544 TORQUE_MOTOR_RAW "has larger range than TORQUE_MOTOR but ut seems biased";
+CM_ SG_ 658 COUNTER "each message increments, 0..f";
+CM_ SG_ 658 CHECKSUM "checksum calculated with https://gist.github.com/adhintz/94bf8d19b9075539f50172ab0fb24ba1";
+CM_ SG_ 658 LKAS_STEERING_TORQUE "Most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s";
+CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
+CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
+CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
 CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking";
 CM_ SG_ 705 INCREASING_UNKNOWN "sometimes decreasing";
 CM_ SG_ 671 AUTO_PARK_PARALLEL "parallel parking mode";
@@ -399,14 +405,17 @@ CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more
 CM_ SG_ 720 BLIND_SPOT_RIGHT "yellow triangle alert on side view mirror when a car is in your blind spot";
 CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled";
 CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in.";
-CM_ SG_ 288 UNKNOWN_CHECKSUM_120 "not the LKAS checksum";
+CM_ SG_ 288 UNKNOWN_CHECKSUM "not the LKAS checksum";
 CM_ SG_ 288 GAS_ENGINE_RPM_MAYBE "lags acceleration, perhaps gas engine";
 CM_ SG_ 257 ENERGY_OR_RPM "perhaps energy consumption or RPMs";
+CM_ SG_ 571 CHECKSUM "standard checksum";
+CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning.";
 CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
 CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
 CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
 CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
 CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
+CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense";
 CM_ SG_ 324 SPEED_2 "signal is approx half other speeds";
 CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC";
 CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC";
@@ -422,5 +431,5 @@ CM_ SG_ 625 SPEED "zero on non-acc drives";
 CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
 CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
 CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
-VAL_ 746 PRNDL 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
+VAL_ 746 PRNDL 5 "Low" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
 VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc

@@ -44,15 +44,15 @@ BO_ 544 a_1: 8 XXX
  SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
  SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
  SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 576 b_1: 8 XXX
- SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
  SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
  SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 608 a_2: 8 XXX
@@ -63,15 +63,15 @@ BO_ 608 a_2: 8 XXX
  SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
  SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
  SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 640 b_2: 8 XXX
- SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
  SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
  SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 644 a_3: 8 XXX
@@ -82,15 +82,15 @@ BO_ 644 a_3: 8 XXX
  SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
  SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
  SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 648 b_3: 8 XXX
- SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
  SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
  SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 652 a_4: 8 XXX
@@ -101,19 +101,19 @@ BO_ 652 a_4: 8 XXX
  SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
  SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
  SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 656 b_4: 8 XXX
- SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ sig0 : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
  SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
  SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 512 unknown_200: 8 XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ increasing : 31|16@0+ (1,0) [0|255] "" XXX
  SG_ zeros_0 : 3|12@0+ (1,0) [0|63] "" XXX

opendbc/ford_cgea1_2_bodycan_2011.dbc

@@ -31,6 +31,8 @@ NS_ :
     BU_BO_REL_
     SG_MUL_VAL_
 
+BS_:
+
 BU_: XXX
 
 

opendbc/ford_cgea1_2_ptcan_2011.dbc

@@ -31,6 +31,8 @@ NS_ :
     BU_BO_REL_
     SG_MUL_VAL_
 
+BS_:
+
 BU_: XXX
 
 

opendbc/ford_fusion_2018_adas.dbc

@@ -31,6 +31,8 @@ NS_ :
     BU_BO_REL_
     SG_MUL_VAL_
 
+BS_:
+
 BU_: XXX
 
 BO_ 1280 Object_00: 8 XXX

opendbc/ford_fusion_2018_pt.dbc

@@ -31,6 +31,8 @@ NS_ :
     BU_BO_REL_
     SG_MUL_VAL_
 
+BS_:
+
 BU_: XXX
 
 BO_ 130 EPAS_INFO: 8 XXX
@@ -128,9 +130,10 @@ BO_ 984 Lane_Keep_Assist_Ui: 8 XXX
  SG_ Hands_Warning : 49|1@0+ (1,0) [0|1] "" XXX
  SG_ Set_Me_X30 : 63|8@0+ (1,0) [0|255] "" XXX
 
+CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ;
+
 VAL_ 357 Cruise_State 4 "active" 3 "standby" 0 "off" ;
 VAL_ 970 Lkas_Action 15 "off" 9 "abrupt" 8 "abrupt2" 5 "smooth" 4 "smooth2" ;
 VAL_ 970 Lkas_Alert 15 "no_alert" 3 "high_intensity" 2 "mid_intensity" 1 "low_intensity" ;
 VAL_ 972 LaActAvail_D_Actl 3 "available" 2 "tbd" 1 "not_available" 0 "fault" ;
 VAL_ 984 Lines_Hud 15 "none" 11 "grey_yellow" 8 "green_red" 7 "yellow_grey" 6 "grey_grey" 4 "red_green" 3 "green_green" ;
-CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ;

opendbc/generator/honda/_bosch_2018.dbc

@@ -196,7 +196,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -259,3 +260,5 @@ 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" ;

opendbc/generator/honda/_comma.dbc

@@ -2,14 +2,14 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

opendbc/generator/honda/_honda_2017.dbc

@@ -54,6 +54,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -133,14 +142,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

opendbc/generator/honda/acura_ilx_2016_can.dbc

@@ -39,12 +39,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -64,7 +58,7 @@ 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" ;

opendbc/generator/honda/acura_rdx_2018_can.dbc

@@ -28,12 +28,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -59,6 +53,7 @@ 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";

opendbc/generator/honda/honda_civic_touring_2016_can.dbc

@@ -44,20 +44,15 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 493 HUD_SETTING: 5 XXX
+ SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
+
 BO_ 487 BRAKE_PRESSURE: 4 VSA
  SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
  SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
@@ -129,7 +124,7 @@ 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" ;

opendbc/generator/honda/honda_crv_hybrid_2019_can.dbc

@@ -0,0 +1,48 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 344 DISTANCE_COUNTER "";
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
+CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
+CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
+
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/generator/honda/honda_crv_touring_2016_can.dbc

@@ -29,12 +29,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -64,7 +58,7 @@ 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" ;

opendbc/generator/honda/honda_fit_ex_2018_can.dbc

@@ -39,14 +39,6 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -87,7 +79,7 @@ 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" ;

opendbc/generator/honda/honda_insight_ex_2019_can.dbc

@@ -0,0 +1,44 @@
+CM_ "IMPORT _bosch_2018.dbc"
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+ VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
+ VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/generator/honda/honda_odyssey_exl_2018.dbc

@@ -31,15 +31,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 450 EPB_STATUS: 8 XXX
  SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
@@ -100,7 +91,7 @@ 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 +101,5 @@ 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";

opendbc/generator/honda/honda_pilot_touring_2017_can.dbc

@@ -39,12 +39,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -58,7 +52,7 @@ 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" ;

opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc

@@ -34,12 +34,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -53,7 +47,7 @@ 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" ;

opendbc/generator/toyota/_comma.dbc

@@ -11,15 +11,17 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
 
  BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
   SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" 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
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
  VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

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
@@ -55,13 +60,23 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
  SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
  SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
  SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -76,7 +91,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  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_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX
@@ -96,29 +111,19 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -150,6 +155,9 @@ 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
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
@@ -160,32 +168,95 @@ 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 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" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

opendbc/generator/toyota/lexus_gs300h_2017_pt.dbc

@@ -0,0 +1,38 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_3: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|15] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";

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";

opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc

@@ -0,0 +1,41 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" 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_ 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_ 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_ISH: 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
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" 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";

opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc

@@ -22,7 +22,9 @@ BO_ 610 EPS_STATUS: 5 EPS
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" 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";
@@ -31,3 +33,5 @@ CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";

opendbc/generator/toyota/toyota_camry_hybrid_2018_pt.dbc

@@ -20,6 +20,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 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
+ SG_ STEER_ANGLE : 31|16@0- (0.05527,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 8 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/generator/toyota/toyota_chr_2018_pt.dbc

@@ -23,11 +23,15 @@ BO_ 610 EPS_STATUS: 8 EPS
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
 
 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
-VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";

opendbc/generator/toyota/toyota_corolla_2017_pt.dbc

@@ -23,6 +23,7 @@ BO_ 610 EPS_STATUS: 5 EPS
 
 BO_ 956 GEAR_PACKET: 8 XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ SPORT_ON : 3|1@0+ (1,0) [0|1] "" XXX
 
 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";

opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc

@@ -22,7 +22,14 @@ BO_ 610 EPS_STATUS: 5 EPS
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" 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";
@@ -30,4 +37,9 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
+VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";

opendbc/generator/toyota/toyota_sienna_xle_2018_pt.dbc

@@ -0,0 +1,33 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|65535] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|3] "" 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
+
+CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"

opendbc/gm_global_a_object.dbc

@@ -33,16 +33,33 @@ NS_ :
 
 BS_:
 
-BU_: K109_FCM B233B_LRR NEO K124_ASCM
+BU_: K109_FCM B233B_LRR NEO VIS_FO VIS2_FO K124_ASCM Vector__XXX EOCM_F_FO EOCM2A_IMX6_FO EOCM2A_K2_FO EOCM2A_K1_FO EOCM2B_IMX6_FO EOCM2B_K2_FO EOCM2B_K1_FO
 VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ;
 VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ;
-VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected " 1 "New object" 0 "No object" ;
-VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction " 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
+VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected" 1 "New object" 0 "No object" ;
+VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
+VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ;
+VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ;
+VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ;
+VAL_TABLE_ LnSnsRLnPosValid 1 "Invalid" 0 "Valid" ;
+VAL_TABLE_ ObjectType 7 "no object present" 6 "fixed roadside object" 5 "fixed overhead object" 4 "pedestrian" 3 "motocycle  / bicycle" 2 "Large vehicle (semi)" 1 "4 Wheel Vehicle (car, small trk)" 0 "Unknown" ;
+VAL_TABLE_ FwVsnCinCoutPotT9Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT8Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT7Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT6Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT5Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT4Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT3Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT2Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT1Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT12Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT11Rev 2 "Right" 1 "Left" 0 "None" ;
+VAL_TABLE_ FwVsnCinCoutPotT10Rev 2 "Right" 1 "Left" 0 "None" ;
 
 
 BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
- SG_ Always12 : 0|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TimeStatusChecksum : 0|12@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ Always12 : 0|8@0+ (1,0) [0|0] ""  Vector__XXX
+ SG_ TimeStatusChecksum : 0|12@0+ (1,0) [0|0] ""  Vector__XXX
 
 BO_ 161 ASCMTimeStatus: 7 NEO
  SG_ TimeStatus : 7|28@0+ (1,0) [0|0] ""  B233B_LRR
@@ -67,8 +84,37 @@ 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
@@ -229,6 +275,428 @@ BO_ 1121 LRRObject01: 8 B233B_LRR
  SG_ TrkAzimuth : 35|12@0- (0.125,0) [-256|255.875] "deg"  NEO
  SG_ TrkWidth : 55|6@0+ (0.25,0) [0|15.75] "m"  NEO
  SG_ TrkObjectID : 61|6@0+ (1,0) [0|63] ""  NEO
+ 
+ BO_ 1094 F_Vision_Obj_Track_12: 8 VIS2_FO
+ SG_ FwdVsnObjTypTr12Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk12Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk12Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FVisionWidthTrk12 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ FVisionMeasStatTrk12 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk12 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk12 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk12 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec"  EOCM_F_FO
+ SG_ FVisionConfTrk12 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ ObjDirTrk12 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk12 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk12 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+
+BO_ 1093 F_Vision_Obj_Track_11: 8 VIS2_FO
+ SG_ FwdVsnObjTypTr11Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk11Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk11Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FVisionWidthTrk11 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ FVisionMeasStatTrk11 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk11 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk11 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk11 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec"  EOCM_F_FO
+ SG_ FVisionConfTrk11 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ ObjDirTrk11 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk11 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk11 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+
+BO_ 1100 F_Vision_Obj_Track_12_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT12Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk12 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk12 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk12 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk12 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr12 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk12 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo12 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1099 F_Vision_Obj_Track_11_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT11Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk11 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk11 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk11 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk11 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr11 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk11 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo11 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1098 F_Vision_Obj_Track_10_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT10Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk10 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk10 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk10 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk10 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr10 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk10 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo10 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1097 F_Vision_Obj_Track_9_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT9Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk9 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk9 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk9 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk9 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr9 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk9 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo9 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1096 F_Vision_Obj_Track_8_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT8Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk8 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk8 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk8 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk8 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr8 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk8 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo8 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1095 F_Vision_Obj_Track_7_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT7Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk7 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk7 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk7 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk7 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr7 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk7 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo7 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1068 F_Vision_Obj_Track_6_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT6Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk6 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk6 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk6 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk6 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr6 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk6 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo6 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1067 F_Vision_Obj_Track_5_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT5Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk5 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk5 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk5 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk5 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr5 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk5 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo5 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1066 F_Vision_Obj_Track_4_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT4Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk4 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk4 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk4 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk4 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr4 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk4 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo4 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1065 F_Vision_Obj_Track_3_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT3Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk3 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk3 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk3 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk3 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr3 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk3 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo3 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1064 F_Vision_Obj_Track_2_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT2Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk2 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk2 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk2 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk2 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr2 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk2 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo2 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1063 F_Vision_Obj_Track_1_B: 8 VIS2_FO
+ SG_ FwVsnCinCoutPotT1Rev : 5|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnObjSclChgTrk1 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec"  EOCM_F_FO
+ SG_ FwdVsnObjAgeTrk1 : 62|7@0+ (1,0) [0|127] ""  EOCM_F_FO
+ SG_ FwdVsnLongVlctyTrk1 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec"  EOCM_F_FO
+ SG_ FwdVsnLatOfstTrk1 : 36|10@0- (0.125,0) [-64|63.875] "m"  EOCM_F_FO
+ SG_ FwdVsnBrkLtStatTrk1 : 38|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FwdVsnTrnSigStatTr1 : 25|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FrtVsnBrstIDAddInfo1 : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1088 F_Vision_Obj_Header_2: 8 VIS2_FO
+ SG_ FrntVsnInPthVehBrkNwSt : 35|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FrntVsnClostPedBrkNwSt : 39|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FrntVsnClostPedObjID : 29|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FrntVsnClostPedAlrtNwFlg : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrntVsnClostPedNotftnFlg : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrntVsnInPthVehAlrtNwFlg : 2|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnVldTgtNum2 : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FrtVsnTmStmp2V : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnTmStmp2 : 10|11@0+ (1,0) [0|2047] ""  EOCM_F_FO
+ SG_ FrtVsnRollCnt2 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FrtVsnBrstChksum2 : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
+
+BO_ 854 F_Vision_Environment_7: 3 VIS2_FO
+ SG_ FwdVsnCnstrctAreaDst : 13|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnCnstrctZnDet : 15|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnEgoVehLnPos : 17|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnRdTypDet : 9|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnTunnlDetd : 23|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ FwdVsnTunnlDst : 21|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBrstID5 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 853 F_Vision_Environment_6: 8 VIS2_FO
+ SG_ LnMrkg4LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnDstV : 56|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnCrvtGrad : 47|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/(m*sec)"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnSnsLnCrvt : 31|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnMrkrTyp : 4|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBrstID4 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 852 F_Vision_Environment_5: 8 VIS2_FO
+ SG_ LnMrkg3LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnDstV : 56|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnCrvtGrad : 47|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/(m*sec)"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnSnsLnCrvt : 31|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnMrkrTyp : 4|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBrstID3 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 309 LHT_CameraObjConfirmation_FO: 1 VIS_FO
+ SG_ HiBmRecmnd : 1|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ CtLghtDet : 0|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+
+BO_ 848 F_Vision_Environment: 8 VIS_FO
+ SG_ FwdVsnEnvIllum : 37|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTngtOfHdngLnRtV : 1|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTngtOfHdngLnRt : 31|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnChngStatus : 39|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseRollingCount : 7|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseSystemOK : 4|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSnsLLnPosValid : 2|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSenseDistToLLnEdge : 14|7@0+ (0.05,0) [0|6.35] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsRLnPosValid : 0|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsDistToRLnEdge : 22|7@0+ (0.05,0) [0|6.35] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseTimeStampV : 5|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseTimeStamp : 34|11@0+ (1,0) [0|2047] "ms"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LaneSenseSystemOKV : 3|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 849 F_Vision_Environment_2: 8 VIS_FO
+ SG_ LnSnsLatVRelToRgtMrkg : 23|8@0- (0.02,0) [-2.56|2.54] "m/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO
+ SG_ LnSnsRtLnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsCrvtGrdntRtV : 63|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnMrkgWdthRt : 62|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsRtAnchrLn : 57|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLtAnchrLn : 56|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnCrvtrRghtV : 0|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnCrvtrRght : 47|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsCrvtGrdntRt : 31|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/rad/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBurstID : 2|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLatVRelToLftMrkg : 15|8@0- (0.02,0) [-2.56|2.54] "m/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+BO_ 1056 F_Vision_Obj_Header: 6 VIS_FO
+ SG_ FVsnSnsrBlckd : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ ClstInPathVehObjID : 30|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FrtVsnFld : 6|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnIniDiagSuccCmpt : 5|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnSrvAlgnInPrcs : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FrtVsnUnvlbl : 7|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisionRollingCnt : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVISModeCmdFdbk : 4|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FVisionNumValidTrgts : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FVisionTimeStampV : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisionTimeStamp : 10|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
+ SG_ VISBurstChecksum : 39|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
+
+BO_ 1057 F_Vision_Obj_Track_1: 8 VIS_FO
+ SG_ FwdVsnRngTrk1Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk1Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr1Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk1 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FVisBurstIDTrk1 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk1 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk1 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk1 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk1 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk1 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ ObjDirTrk1 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+
+BO_ 1058 F_Vision_Obj_Track_2: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk2 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk2Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk2Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ ObjDirTrk2 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FwdVsnObjTypTr2Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk2 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk2 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk2 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk2 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk2 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk2 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1059 F_Vision_Obj_Track_3: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk3 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk3Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk3Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr3Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk3 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk3 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk3 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk3 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk3 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk3 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk3 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1060 F_Vision_Obj_Track_4: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk4 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FVisionMeasStatTrk4 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk4 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ FwdVsnRngTrk4Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk4Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr4Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk4 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk4 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ ObjDirTrk4 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisionConfTrk4 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk4 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+
+BO_ 1061 F_Vision_Obj_Track_5: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk5 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk5Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk5Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr5Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk5 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk5 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk5 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk5 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk5 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk5 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk5 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1062 F_Vision_Obj_Track_6: 8 VIS_FO
+ SG_ FwdVsnVertPosTrk6 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk6Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk6Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr6Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk6 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk6 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk6 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk6 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk6 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk6 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk6 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1089 F_Vision_Obj_Track_7: 8 VIS2_FO
+ SG_ FVisBurstIDTrk7 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk7 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk7 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk7 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk7 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk7 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+ SG_ FwdVsnRngTrk7Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr7Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk7Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk7 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ ObjDirTrk7 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+
+BO_ 1090 F_Vision_Obj_Track_8: 8 VIS2_FO
+ SG_ FVisBurstIDTrk8 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk8 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk8Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk8 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk8Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr8Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk8 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisionConfTrk8 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk8 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk8 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk8 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1091 F_Vision_Obj_Track_9: 8 VIS2_FO
+ SG_ FwdVsnVertPosTrk9 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ FwdVsnRngTrk9Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk9Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr9Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ ObjDirTrk9 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk9 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk9 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk9 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk9 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk9 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk9 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk9 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 1092 F_Vision_Obj_Track_10: 8 VIS2_FO
+ SG_ FwdVsnRngTrk10Rev : 16|12@0+ (0.1,0) [0|409.5] "m"  EOCM_F_FO
+ SG_ FwdVsnAzmthTrk10Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg"  EOCM_F_FO
+ SG_ FwdVsnObjTypTr10Rev : 14|4@0+ (1,0) [0|15] ""  EOCM_F_FO
+ SG_ FwdVsnVertPosTrk10 : 53|6@0+ (0.25,-2) [-2|13.75] "deg"  EOCM_F_FO
+ SG_ ObjDirTrk10 : 15|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FVisBurstIDTrk10 : 1|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionObjectIDTrk10 : 7|6@0+ (1,0) [0|63] ""  EOCM_F_FO
+ SG_ FVisionConfTrk10 : 36|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionAzRateTrk10 : 34|11@0- (0.125,0) [-128|127.875] "deg/s"  EOCM_F_FO
+ SG_ FVisionRelLaneTrk10 : 55|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionMeasStatTrk10 : 63|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FVisionWidthTrk10 : 61|6@0+ (0.25,0) [0|15.75] "m"  EOCM_F_FO
+
+BO_ 851 F_Vision_Environment_4: 8 VIS_FO
+ SG_ LnMrkg3LnPrvwDst : 45|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTtlNmLnMrkgDetRt : 4|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsRtLinCrsTm : 25|5@0+ (0.1,0) [0|3.1] "s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsNumPrlLnsDetRt : 33|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsNumPrlLnsDetLt : 36|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsCrvtGrdntLftV : 31|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLtLinCrsTm : 30|5@0+ (0.1,0) [0|3.1] "s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnPrvwDst : 50|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnMrkgTypChgDst : 40|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnMrkgWdth : 62|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4LnMarkrElvtd : 51|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg4AnchrLnLin : 57|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnMrkgWdth : 41|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3LnMarkrElvtd : 46|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkg3AnchrLnLin : 52|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBurstID2 : 1|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsCrvtGrdntLft : 15|16@0- (5.96e-8,0) [-0.0019529728|0.0019529132] "1/rad/s"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
+ BO_ 850 F_Vision_Environment_3: 8 VIS_FO
+ SG_ LnSnsTtlNmLnMrkgDetLt : 58|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLtLnMrkgWdth : 63|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLtLnMrkgTypChgDst : 62|4@0+ (10,0) [0|150] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTngtOfHdngLnLftV : 23|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsTngtOfHdngLnLft : 31|8@0- (0.002,0) [-0.256|0.254] "m/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnCrvtrLftV : 15|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsLnCrvtrLft : 39|16@0- (9.53e-7,0) [-0.031227904|0.031226951] "1/m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkrTypRght : 50|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkrTypLft : 53|3@0+ (1,0) [0|7] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkrElvtdRght : 54|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnMrkrElvtdLft : 55|1@0+ (1,0) [0|1] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnSnsBurstID1 : 7|2@0+ (1,0) [0|3] ""  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnQltyCnfdncLvlRght : 22|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnQltyCnfdncLvlLft : 14|7@0+ (0.7874016,0) [0|100.0000032] "%"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnPrvwDstncRght : 2|3@0+ (10,0) [0|70] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+ SG_ LnPrvwDstncLft : 5|3@0+ (10,0) [0|70] "m"  EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO
+
 
 BO_TX_BU_ 161 : K124_ASCM,NEO;
 BO_TX_BU_ 774 : K124_ASCM,NEO;
@@ -236,9 +704,11 @@ BO_TX_BU_ 784 : K124_ASCM,NEO;
 BO_TX_BU_ 776 : K124_ASCM,NEO;
 
 
-CM_ BU_ K109_FCM "Frontview Camera Module ";
+CM_ BU_ K109_FCM "Frontview Camera Module";
 CM_ BU_ B233B_LRR "Radar Sensor Module Long Range";
 CM_ BU_ NEO "Comma NEO";
+CM_ BU_ VIS_FO "Front Camera Data";
+CM_ BU_ VIS2_FO "Front Camera Data2";
 CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider.";
 BA_DEF_  "UseGMParameterIDs" INT 0 0;
@@ -250,6 +720,5 @@ BA_DEF_DEF_  "BusType" "";
 BA_ "BusType" "CAN";
 BA_ "ProtocolType" "GMLAN";
 BA_ "UseGMParameterIDs" 0;
-VAL_ 776 NearRangeMode 1 "Active" 0 "Inactive" ;
-VAL_ 776 FarRangeMode 1 "Active" 0 "Inactive" ;
-
+VAL_ 776 NearRangeMode 1 "Active" 0 "Inactive";
+VAL_ 776 FarRangeMode 1 "Active" 0 "Inactive";

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" ;
@@ -61,9 +66,11 @@ BO_ 190 ECMAcceleratorPos: 6 K20_ECM
  SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] ""  NEO
 
 BO_ 201 ECMEngineStatus: 8 K20_ECM
- SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%"  NEO
- SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM"  NEO
- SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] ""  NEO
+ SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
+ SG_ EngineRPM : 13|14@0+ (0.25,0) [0|0] "RPM" NEO
+ SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
+ SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
 
 BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
  SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] ""  NEO
@@ -81,9 +88,13 @@ 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
 
@@ -98,11 +109,12 @@ BO_ 384 ASCMLKASteeringCmd: 4 NEO
  SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] ""  NEO
 
 BO_ 388 PSCMStatus: 8 K43_PSCM
- SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] ""  NEO
- SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] ""  NEO
- SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] ""  NEO
- SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
- SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm"  NEO
+ SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO
+ SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO
+ SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO
+ SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
+ SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
+ SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
 
 BO_ 417 AcceleratorPedal: 8 XXX
  SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
@@ -118,15 +130,17 @@ 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
  SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s"  NEO
 
 BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
- SG_ YawRate : 51|12@0- (0.0625,0) [-2047|2047] "grad/s"  NEO
- SG_ LateralAcceleration : 3|12@0- (0.0161,0) [-2047|2047] "m/s2"  NEO
- SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] ""  NEO
+ SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
+ SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO
+ SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
+ SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
 
 BO_ 560 EPBStatus: 8 EPB
  SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO
@@ -170,6 +184,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
  SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] ""  NEO
  SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
  SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
@@ -224,8 +239,10 @@ 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 +254,6 @@ 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" ;

opendbc/honda_accord_lx15t_2018_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -264,6 +265,8 @@ 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"
 
 

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -264,6 +265,8 @@ 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"
 
 

opendbc/honda_accord_touring_2016_can.dbc

@@ -86,10 +86,13 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
 
 BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -264,6 +265,8 @@ 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"
 
 

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -155,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -273,20 +283,15 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 450 EPB_STATUS: 8 EPB
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
  SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 493 HUD_SETTING: 5 XXX
+ SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON
+
 BO_ 487 BRAKE_PRESSURE: 4 VSA
  SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
  SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
@@ -358,7 +363,7 @@ 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" ;

opendbc/honda_clarity_hybrid_2018_can.dbc

@@ -409,6 +409,7 @@ BO_TX_BU_ 862 : NEO,ADAS;
 BO_TX_BU_ 927 : NEO,ADAS;
 
 
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
 CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
@@ -430,4 +431,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
 VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
 VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -200,7 +200,8 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
  SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 
@@ -264,6 +265,8 @@ 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"
 
 

opendbc/honda_crv_hybrid_2019_can_generated.dbc

@@ -0,0 +1,318 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
+CM_ "honda_crv_hybrid_2019_can.dbc starts here"
+
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1302 ODOMETER: 8 XXX
+ SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 344 DISTANCE_COUNTER "";
+CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off";
+CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled";
+CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied";
+CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas";
+
+VAL_ 419 GEAR_SHIFTER  32 "D" 8 "R" 4 "P" ;
+VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
+VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -155,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -258,12 +268,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -293,7 +297,7 @@ 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" ;

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -155,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -268,14 +278,6 @@ BO_ 401 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -316,7 +318,7 @@ 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" ;

opendbc/honda_insight_ex_2019_can_generated.dbc

@@ -0,0 +1,314 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _bosch_2018.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
+
+BO_ 228 STEERING_CONTROL: 5 EON
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 232 BRAKE_HOLD: 7 XXX
+ SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
+ SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
+ SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 330 STEERING_SENSORS: 8 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
+ SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
+ SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 450 EPB_STATUS: 8 EPB
+ SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
+ SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 479 ACC_CONTROL: 8 EON
+ SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
+ SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
+ SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
+ SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
+ SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 495 ACC_CONTROL_ON: 8 XXX
+ SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
+ SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 545 XXX_16: 6 SCM
+ SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+ BO_ 662 SCM_BUTTONS: 4 SCM
+  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 CAR_SPEED: 8 PCM
+ SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
+ SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 806 SCM_FEEDBACK: 8 SCM
+ SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
+ SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 862 CAMERA_MESSAGES: 8 CAM
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 891 STALK_STATUS_2: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+
+CM_ "honda_insight_ex_2019_can.dbc starts here"
+
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
+
+BO_ 927 RADAR_HUD: 8 RADAR
+ SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
+ SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
+ SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
+ SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
+ SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+ VAL_ 419 GEAR  10 "R" 1 "D" 0 "P";
+ VAL_ 419 GEAR_SHIFTER  32 "D" 16 "N" 8 "R" 4 "P" ;
+
+CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -155,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -260,15 +270,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" XXX
- SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 450 EPB_STATUS: 8 XXX
  SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
  SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
@@ -329,7 +330,7 @@ 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 +340,5 @@ 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";

opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc

@@ -231,6 +231,9 @@ BO_ 404 STEERING_CONTROL: 4 EON
 BO_ 420 VSA_STATUS: 8 VSA
  SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
  SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
@@ -273,6 +276,7 @@ BO_ 1302 ODOMETER: 8 XXX
 
 
 
+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";
 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
@@ -292,4 +296,3 @@ VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
 VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
 VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
 VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_pilot_touring_2017_can_generated.dbc

@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -155,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -268,12 +278,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -287,7 +291,7 @@ 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" ;

opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc

@@ -6,15 +6,15 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
  SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
 VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
@@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
 
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
  SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
  SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -155,14 +164,15 @@ BO_ 780 ACC_HUD: 8 ADAS
  SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
  SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
  SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
  SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
  SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
  SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
  SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
  SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
  SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
@@ -263,12 +273,6 @@ BO_ 419 GEARBOX: 8 PCM
  SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
  SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
 
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
 BO_ 422 SCM_BUTTONS: 8 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
@@ -282,7 +286,7 @@ 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" ;

opendbc/hyundai_kia_generic.dbc

@@ -692,6 +692,7 @@ BO_ 1365 FPCM11: 8 FPCM
  SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
 
 BO_ 871 LVR12: 8 LVR
+ SG_ CF_Lvr_CruiseSet : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,TCU
  SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,TCU
 
 BO_ 872 LVR11: 8 LVR
@@ -896,11 +897,11 @@ BO_ 67 DATC13: 8 DATC
 
 BO_ 66 DATC12: 8 DATC
  SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "¢µ"  CLU,IBOX
+ SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "deg"  CLU,IBOX
  SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
- SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "¢µ"  CLU,IBOX
+ SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "deg"  CLU,IBOX
  SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU
- SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "¢µ"  CLU
+ SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "deg"  CLU
  SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] ""  CLU
 
 BO_ 1345 CGW1: 8 BCM
@@ -980,6 +981,8 @@ BO_ 832 LKAS11: 8 LDWS_LKAS
  SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
  SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
  SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,MDPS
+ SG_ CF_Lkas_Unknown1 : 47|1@1+ (1,0) [0|3] "" XXX
+ SG_ CF_Lkas_Unknown2 : 63|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 1342 LKAS12: 6 LDWS_LKAS
  SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU

opendbc/lexus_gs300h_2017_pt_generated.dbc

@@ -0,0 +1,336 @@
+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+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 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" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_gs300h_2017_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ 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_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|15] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";

opendbc/lexus_is_2018_pt_generated.dbc

@@ -0,0 +1,337 @@
+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+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 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" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+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";

opendbc/lexus_is_hybrid_2017_pt_generated.dbc

@@ -0,0 +1,339 @@
+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+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 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_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 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" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
+
+
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" 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_ 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_ 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_ISH: 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
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" 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";

opendbc/lexus_rx_hybrid_2017_pt_generated.dbc

@@ -15,16 +15,18 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
 
  BO_ 512 GAS_COMMAND: 6 EON
-  SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
-  SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
   SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
-  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" 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
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
 
  VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
@@ -72,6 +74,11 @@ 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
@@ -87,13 +94,23 @@ BO_ 180 SPEED: 8 XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
 
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
 BO_ 466 PCM_CRUISE: 8 XXX
  SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
  SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
  SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 552 ACCELEROMETER: 8 XXX
  SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
  SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
@@ -108,7 +125,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  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_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 643 PRE_COLLISION: 8 XXX
@@ -128,29 +145,19 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
- SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
  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
@@ -182,6 +189,9 @@ 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
  SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
@@ -192,33 +202,96 @@ 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_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 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" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
 
 CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
 
@@ -247,7 +320,9 @@ BO_ 610 EPS_STATUS: 5 EPS
  SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
  SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" 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";
@@ -256,3 +331,5 @@ CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
 VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";

opendbc/mazda_cx5_gt_2017.dbc

@@ -0,0 +1,694 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 117 STEER_RELATED: 8 XXX
+ SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 49|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_5 : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE : 19|12@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE_2 : 39|16@0+ (1,0) [0|131071] "" XXX
+
+BO_ 118 RPM_RELATED: 8 XXX
+ SG_ CTR : 7|8@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX
+
+BO_ 514 ENGINE_DATA: 8 XXX
+ SG_ RPM : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ CHKSUM : 56|8@1+ (1,0) [0|127] "" XXX
+ SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "KPH" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "" XXX
+
+BO_ 357 PEDALS: 8 XXX
+ SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 8|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACC_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_OFF : 2|1@1+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX
+ SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX
+ SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
+
+BO_ 533 WHEEL_SPEEDS: 8 XXX
+ SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "" XXX
+ SG_ RL : 39|16@0+ (0.01,-100) [0|15] "" XXX
+ SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
+
+BO_ 134 STEER2: 8 XXX
+ SG_ NEW_SIGNAL_2 : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ CTR : 22|4@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 24|3@1+ (1,0) [0|7] "" XXX
+ SG_ CTR_2 : 28|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 7|16@0+ (0.1,-1600) [-500|500] "deg" XXX
+ SG_ STEER_ANGLE_ROUGH : 39|8@0- (1,0) [0|15] "" XXX
+
+BO_ 576 STEER_TORQUE: 8 XXX
+ SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_1 : 20|4@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_TORQUE_SENSOR : 7|16@0+ (0.5,-15000) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 46|20@0- (0.01,0) [-3000|3000] "deg/s" XXX
+
+BO_ 577 STEER_RATE: 8 XXX
+ SG_ STEER_ANGLE_RATE : 23|16@0+ (0.25,-8192) [0|1] "deg/s" XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|15] "" XXX
+ SG_ LKAS_EFFECTIVE : 39|12@0+ (1,-2048) [0|255] "" XXX
+ SG_ HANDS_OFF_5_SECONDS : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_BLOCK : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_TRACK_STATE : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 582 CAM_LANEMAYBE: 8 XXX
+ SG_ NEW_SIGNAL_4 : 40|8@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX
+ SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 541 CAM_EMPTY: 8 XXX
+
+BO_ 605 CAM_PEDESTRIAN: 8 XXX
+ SG_ CTR : 17|4@0+ (1,0) [0|255] "" XXX
+ SG_ AEB_NOT_ENGAGED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ PED_WARNING : 9|1@0+ (1,0) [0|255] "" XXX
+ SG_ PED_BRAKE : 3|3@0+ (1,0) [0|7] "" XXX
+ SG_ RST_CTR : 23|6@0+ (1,0) [0|63] "" XXX
+ SG_ S1 : 29|4@0+ (1,0) [0|31] "" XXX
+
+BO_ 578 CAM_LANETRACK: 8 XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ZERO : 53|6@0+ (1,0) [0|63] "" XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ LINE2 : 9|10@0+ (1,-686) [0|255] "" XXX
+ SG_ LANE_CURVE : 31|8@0+ (1,-127) [0|255] "" XXX
+ SG_ SIG1 : 39|8@0+ (1,-128) [0|255] "" XXX
+ SG_ SIG2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SIG3 : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ LINE1 : 3|10@0+ (1,-686) [0|1] "" XXX
+
+BO_ 579 CAM_LKAS: 8 XXX
+ SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
+ SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 CAM_DISTANCE: 8 XXX
+ SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
+ SG_ S2 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ S3 : 16|8@1+ (1,0) [0|3] "" XXX
+ SG_ S4 : 24|8@1+ (1,0) [0|31] "" XXX
+ SG_ S5 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ DISTANCE : 47|8@0+ (1,0) [0|65535] "" XXX
+ SG_ S6 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 581 CAM_IDK3: 8 XXX
+ SG_ S1 : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ S2 : 8|6@1+ (1,0) [0|255] "" XXX
+ SG_ S3 : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ S4 : 16|8@1+ (1,0) [0|15] "" XXX
+ SG_ S5 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ S6 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ S7 : 40|8@1+ (1,0) [0|3] "" XXX
+ SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 863 CAM_STATUS: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_5 : 4|2@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
+
+BO_ 1157 CAM_Empty2: 8 XXX
+
+BO_ 1160 CAM_Empty3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
+
+BO_ 1088 CAM_LANEINFO: 8 XXX
+ SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX
+ SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX
+ SG_ S1_NOT : 54|1@0+ (1,0) [0|31] "" XXX
+ SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX
+ SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_ERR_BIT : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BIT2 : 13|1@0+ (1,0) [0|15] "" XXX
+ SG_ LANE_LINES : 10|3@0+ (1,0) [0|3] "" XXX
+ SG_ BIT1 : 6|1@0+ (1,0) [0|65535] "" XXX
+ SG_ LINE_NOT_VISIBLE : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 1479 NEW_MSG_470: 8 XXX
+
+BO_ 1456 NEW_MSG_300: 8 XXX
+
+BO_ 1446 NEW_MSG_a600: 8 XXX
+
+BO_ 1416 MSG_18: 8 XXX
+
+BO_ 1086 DOORS: 8 XXX
+ SG_ DOOR_OPEN : 30|1@0+ (1,0) [0|255] "" XXX
+ SG_ LEFTGATE : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 53|1@0+ (1,0) [0|255] "" XXX
+ SG_ KEYFOB_HORN : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEYFOB_LOCK : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ KEYFOB_UNLOCK : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR1 : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ CTR2 : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ BR : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ BL : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FR : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ FL : 37|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 977 TWO_STATES: 8 XXX
+ SG_ NEW_SIGNAL_1 : 50|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 56|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|4@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 51|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1085 MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_3 : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|8@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 40|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 159 MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 50|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1278 NEW_MSG_3: 8 XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ MILAGE_MAYBE : 7|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1277 NEW_MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1275 MSG_2017_5: 8 XXX
+ SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX
+
+BO_ 1274 NEW_MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 55|4@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_2 : 35|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|3@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 48|4@1+ (1,0) [0|7] "" XXX
+
+BO_ 1180 last_byte_roughRPM: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1078 HVAC: 8 XXX
+ SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 56|5@0+ (1,0) [0|255] "" XXX
+
+BO_ 1056 NEW_MSG_13: 8 XXX
+ SG_ BIG_COUNTER_MAYBE : 55|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 29|6@0+ (1,0) [0|255] "" XXX
+ SG_ counter_or_GEAR : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ INCREASING : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ STANDSTILL : 32|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 1045 MOVING: 8 XXX
+ SG_ NEW_SIGNAL_2 : 20|1@0+ (1,0) [0|3] "" XXX
+ SG_ CTR2 : 19|4@0+ (1,0) [0|31] "" XXX
+ SG_ CTR3 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ IS_MOVING : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ CTR1 : 53|6@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE : 55|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1034 MSG_07: 8 XXX
+ SG_ NEW_SIGNAL_1 : 6|3@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|4@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 870 NEW_MSG_16: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 867 NEW_MSG_17: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 130 STEER: 8 XXX
+ SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_2 : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [500|-500] "deg" XXX
+
+BO_ 120 NEW_MSG_18: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 304 GEAR_RELATED: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 865 NEW_MSG_5: 8 XXX
+ SG_ SPEED_INVERSE : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ IS_MOVING : 43|3@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_2 : 46|1@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 15|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 836 NEW_MSG_19: 8 XXX
+ SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 832 SEATBELT: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ PASSENGER_SEATBELT : 26|1@1+ (1,0) [0|7] "" XXX
+ SG_ CTR1 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CTR2 : 23|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ DRIVER_SEATBELT : 27|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 866 NEW_MSG_21: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|131071] "" XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 158 MSG_05: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 157 CRZ_BTNS: 8 XXX
+ SG_ SET_P_INV : 21|1@0+ (1,0) [0|3] "" XXX
+ SG_ CAN_OFF_INV : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ CAN_OFF : 0|1@1+ (1,0) [0|3] "" XXX
+ SG_ SET_M_INV : 22|1@0+ (1,0) [0|255] "" XXX
+ SG_ SET_M : 5|1@0+ (1,0) [0|3] "" XXX
+ SG_ SET_P : 4|1@0+ (1,0) [0|3] "" XXX
+ SG_ RES_INV : 19|1@1+ (1,0) [0|3] "" XXX
+ SG_ RES : 2|1@1+ (1,0) [0|3] "" XXX
+ SG_ DISTANCE_LESS : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE_LESS_INV : 8|1@0+ (1,0) [0|31] "" XXX
+ SG_ DISTANCE_MORE : 6|1@0+ (1,0) [0|3] "" XXX
+ SG_ DISTANCE_MORE_INV : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ MODE_Y : 13|1@1+ (1,0) [0|3] "" XXX
+ SG_ MODE_X : 14|1@0+ (1,0) [0|255] "" XXX
+ SG_ MODE_Y_INV : 30|1@0+ (1,0) [0|3] "" XXX
+ SG_ MODE_X_INV : 31|1@0+ (1,0) [0|3] "" XXX
+ SG_ CTR : 29|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 154 BLINK_INFO: 8 XXX
+ SG_ LEFT_BLINK : 18|1@1+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINK : 19|1@0+ (1,0) [0|255] "" XXX
+ SG_ REAR_WIPER_ON : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ WIPER_LO : 33|1@1+ (1,0) [0|31] "" XXX
+ SG_ WIPER_HI : 34|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 145 TURN_SWITCH: 8 XXX
+ SG_ NEW_SIGNAL_1 : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 36|1@0+ (1,0) [0|3] "" XXX
+ SG_ TURN : 38|1@0+ (1,0) [0|3] "" XXX
+ SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
+ SG_ TURN_RIGHT_SWITCH : 12|1@1+ (1,0) [0|3] "" XXX
+ SG_ HAZARD : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ CTR : 27|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 80 MSG_04: 8 XXX
+ SG_ NEW_SIGNAL_1 : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIGNAL : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 978 MSG_03: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 607 NEW_MSG_25: 8 XXX
+
+BO_ 1115 MSG_02: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 2|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1067 NEW_MSG_27: 8 XXX
+ SG_ NEW_SIGNAL_2 : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 11|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_7 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_9 : 8|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 358 NEW_MSG_28: 8 XXX
+
+BO_ 608 NEW_MSG_29: 8 XXX
+ SG_ NEW_SIGNAL_1 : 8|5@1+ (1,0) [0|7] "" XXX
+
+BO_ 606 SPEED_TBD: 8 XXX
+ SG_ SPEED_TBD : 7|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX
+
+BO_ 552 GEAR: 8 XXX
+ SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 18|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 35|4@0+ (1,0) [0|15] "" XXX
+ SG_ MORE_GEAR : 7|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 543 CRZ_EVENTS: 8 XXX
+ SG_ NEW_SIGNAL_3 : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 6|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_9 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_10 : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_12 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_13 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_18 : 12|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_19 : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_20 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_21 : 23|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_24 : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL_PRESSED : 32|1@0+ (1,0) [0|255] "" XXX
+ SG_ CRZ_STARTED : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ PLUS_ONE_CRZ : 17|1@0+ (1,0) [0|255] "" XXX
+ SG_ PLUS_ONE_CRZ_2 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_MAYBE : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ NONACC_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE_CAR_MOVING : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ NONACC_RELATED : 11|1@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CAS_CMD_MAYBE : 30|7@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 43|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 542 NEW_MSG_33: 8 XXX
+ SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR2 : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 868 NEW_MSG_34: 8 XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 869 NEW_MSG_35: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 50|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 1114 NEW_MSG_4: 8 XXX
+
+BO_ 535 CURVE_CTRS: 8 XXX
+ SG_ CTR_A_1 : 4|3@0+ (1,0) [0|31] "" XXX
+ SG_ CTR_A_2 : 7|3@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_B_1 : 12|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_B_2 : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_C_1 : 20|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
+ SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX
+ SG_ CURVE : 39|16@0+ (1,0) [0|7] "" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SEATBELT_MAYBE : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_SEATBELT_MAYBE : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 9|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 540 CRZ_CTRL: 8 XXX
+ SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 18|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
+ SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 539 CRZ_INFO: 8 XXX
+ SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX
+ SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 37|1@0+ (1,0) [0|255] "" XXX
+ SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_CMD : 31|10@0- (1,0) [0|1] "" XXX
+
+BO_ 121 EPB: 8 XXX
+ SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 25|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 41|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 47|1@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_10 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX
+
+BO_ 1070 MSG_2017_1: 8 XXX
+
+BO_ 1183 MSG_2017_2: 8 XXX
+
+BO_ 1243 MSG_2017_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1269 MSG_2017_4: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1178 MSG_2017_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1179 MSG_2017_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
+
+BO_ 1435 MSG_2017_8: 8 XXX
+
+BO_ 253 NEW_MSG_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 61|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 359 NEW_MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 36|5@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|4@0+ (1,0) [0|255] "" XXX
+
+BO_ 512 NEW_MSG_30: 8 XXX
+ SG_ NEW_SIGNAL_1 : 6|7@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 22|7@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_8 : 38|7@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_9 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CTR : 51|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 515 MSG_01: 8 XXX
+ SG_ CTR : 39|8@0+ (1,0) [0|65535] "" XXX
+ SG_ CTR_2 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 529 NEW_MSG_36: 8 XXX
+ SG_ NEW_SIGNAL_1 : 22|5@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|4@1+ (1,0) [0|3] "" XXX
+ SG_ CTR : 39|4@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_2 : 47|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 53|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 1242 NEW_MSG_37: 8 XXX
+
+BO_ 1266 MSG_09: 8 XXX
+ SG_ NEW_SIGNAL_1 : 20|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 19|4@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|1@0+ (1,0) [0|255] "" XXX
+
+BO_ 976 MSG_15: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 61|6@0+ (1,0) [0|1] "" XXX
+
+BO_ 155 MSG_14: 8 XXX
+
+BO_ 1267 MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_1 : 40|1@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_2 : 42|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 305 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 10|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1238 TEMPERATURE: 8 XXX
+ SG_ TEMPERATURE_MAYBE : 47|8@0+ (1,0) [0|4294967295] "" XXX
+
+BO_ 1087 NEW_MSG_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1143 BSM: 8 XXX
+ SG_ BSM_OFF : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BS_3 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS1 : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS3 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BS4 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS_SIDE : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ IS_MOVING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BS_BEHIND : 46|2@1+ (1,0) [0|16777215] "" XXX
+ SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
+ SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1361 KEY_POSITION: 8 XXX
+
+BO_ 1283 KEY_POSITION2: 8 XXX
+
+BO_ 628 MSG_06: 8 XXX
+
+BO_ 1154 MSG_08: 8 XXX
+
+BO_ 1139 MSG_13: 8 XXX
+
+BO_ 1270 MSG_16: 8 XXX
+
+BO_ 1272 MSG_17: 8 XXX
+
+BO_ 1425 MSG_19: 8 XXX
+
+
+
+
+CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
+CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
+CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled  TURN it OFF ";
+CM_ SG_ 552 GEAR "0 P/N, 12 R, 2 D M1, 4 M2, 14 Shift";
+CM_ SG_ 552 MORE_GEAR "";

opendbc/subaru_global_2017.dbc

@@ -0,0 +1,363 @@
+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 X
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
+
+BO_ 64 Throttle: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+
+
+BO_ 65 NEW_MSG_1: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
+
+BO_ 72 NEW_MSG_2: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 316 NEW_MSG_3: 8 XXX
+
+BO_ 326 Cruise_Buttons: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
+ SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
+
+BO_ 315 G_Sensor: 8 XXX
+ SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
+
+BO_ 314 Wheel_Speeds: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
+ SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
+
+BO_ 73 NEW_MSG_5: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
+
+BO_ 280 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
+
+BO_ 281 Steering_Torque: 8 XXX
+ SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
+ SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
+ SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
+
+BO_ 312 Brake_Pressure_L_R: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 313 Brake_Pedal: 8 XXX
+ SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
+
+BO_ 290 ES_LKAS: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
+ SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
+ SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 722 NEW_MSG_10: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 544 ES_Brake: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
+ SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
+
+BO_ 545 ES_Distance: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
+ SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
+ SG_ Main : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 57|7@1+ (1,0) [0|1] "" XXX
+
+BO_ 546 ES_Status: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 554 ES_Blank: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
+ SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 557 NEW_MSG_14: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 576 CruiseControl: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 577 NEW_MSG_16: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
+
+BO_ 552 NEW_MSG_17: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 912 Dashlights: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 940 BodyInfo: 8 XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
+ SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 801 ES_DashStatus: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_9 : 60|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+
+BO_ 802 ES_LKAS_State: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
+ SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Traffic_light_Ahead : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
+
+BO_ 805 ES_NEW_MSG_22: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 808 NEW_MSG_23: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 837 NEW_MSG_24: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 838 NEW_MSG_25: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 842 NEW_MSG_26: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 915 NEW_MSG_27: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
+
+BO_ 1788 NEW_MSG_28: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 816 NEW_MSG_29: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 826 NEW_MSG_30: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 839 NEW_MSG_31: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 2015 NEW_MSG_32: 8 XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 2024 NEW_MSG_33: 8 XXX
+ SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1614 NEW_MSG_34: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1617 NEW_MSG_35: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1632 NEW_MSG_36: 8 XXX
+ SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1650 NEW_MSG_37: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1657 NEW_MSG_38: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1658 NEW_MSG_39: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 1677 Dash_State: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 1743 NEW_MSG_41: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1785 NEW_MSG_42: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 1759 NEW_MSG_43: 8 XXX
+ SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 1786 NEW_MSG_44: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 1787 NEW_MSG_45: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
+
+
+
+
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
+CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
+CM_ SG_ 1677 Units "1 = imperial, 6 = metric";

opendbc/subaru_outback_2015_eyesight.dbc

@@ -0,0 +1,372 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 2 Steering: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|4@0- (1,0) [0|65535] "" XXX
+ SG_ Counter : 25|3@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 22|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_6 : 24|1@1+ (1,0) [0|3] "" XXX
+ SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
+
+BO_ 208 G_Sensor: 8 XXX
+ SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ _Latitudinal : 16|16@1- (0.0035,1) [0|65535] "" XXX
+ SG_ _Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
+
+BO_ 209 Brake_Pedal: 8 XXX
+ SG_ NEW_SIGNAL_1 : 26|1@1+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|1@1+ (1,0) [0|255] "" XXX
+ SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
+
+BO_ 210 Brake_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 46|1@0+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|3@0+ (1,0) [0|7] "" XXX
+ SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Left_Brake : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
+
+BO_ 211 Brake_Type: 8 XXX
+ SG_ NEW_SIGNAL_4 : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 7|1@0+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ Speed_Counter : 39|8@0+ (1,0) [0|15] "" XXX
+ SG_ Counter : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ Brake_Light : 21|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_Cruise_On : 42|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pedal_On : 46|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 212 Wheel_Speeds: 8 XXX
+ SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
+ SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
+ SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
+ SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX
+
+BO_ 320 Throttle: 8 XXX
+ SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
+ SG_ Off_Throttle : 30|1@0+ (1,0) [0|3] "" XXX
+ SG_ Throttle_Cruise : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Body_ : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|15] "" XXX
+ SG_ Not_Full_Throttle : 14|1@0+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
+
+BO_ 321 undefined: 8 XXX
+ SG_ NEW_SIGNAL_7 : 59|2@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_6 : 46|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 47|1@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 54|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
+ SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
+ SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
+ SG_ Engine_Stop : 15|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 324 CruiseControl: 8 XXX
+ SG_ Cruise_On : 48|1@0+ (1,0) [0|3] "" XXX
+ SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
+ SG_ SET_BUTTON : 3|1@0+ (1,0) [0|3] "" XXX
+ SG_ RES_BUTTON : 4|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_6 : 50|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 28|5@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_9 : 15|1@1+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 49|1@0+ (1,0) [0|7] "" XXX
+ SG_ Brake_Pedal_On : 51|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,-124) [0|255] "" XXX
+ SG_ Button : 13|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 328 Transmission: 8 XXX
+ SG_ Counter : 11|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|1@0+ (1,0) [0|3] "" XXX
+ SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 43|1@0+ (1,0) [0|65535] "" XXX
+ SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
+
+BO_ 329 CVT_Ratio: 8 XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 11|4@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 336 Brake_Pressure: 8 XXX
+ SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ Brake_Pressure_Left : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 338 Stalk: 8 XXX
+ SG_ Wiper : 62|1@0+ (1,0) [0|3] "" XXX
+ SG_ brake_light : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ Headlights : 59|1@0+ (1,0) [0|3] "" XXX
+ SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 60|1@0+ (1,0) [0|3] "" XXX
+ SG_ Counter : 15|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 342 NEW_MSG_2: 8 XXX
+
+BO_ 346 Counter_3: 8 XXX
+ SG_ Counter : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 20|1@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 57|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 352 ES_Brake: 8 XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
+ SG_ Brake_On : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_Light : 20|1@0+ (1,0) [0|2047] "" XXX
+ SG_ Cruise_Activated : 23|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ ES_Error : 21|1@0+ (1,0) [0|7] "" XXX
+
+BO_ 353 ES_CruiseThrottle: 8 XXX
+ SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ Counter_1 : 46|3@0+ (1,0) [0|15] "" XXX
+ SG_ Wheel_stop : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ CloseDistance : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ Unknown : 18|1@1+ (1,0) [0|7] "" XXX
+ SG_ Button_Speed_Down : 49|1@1+ (1,0) [0|3] "" XXX
+ SG_ Button_Resume : 50|1@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3_Blank : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2_Blank : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_9 : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activatedish : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_6_Blank : 23|1@0+ (1,0) [0|7] "" XXX
+ SG_ DistanceSwap : 21|1@0+ (1,0) [0|3] "" XXX
+ SG_ Brake_On : 20|1@0+ (1,0) [0|7] "" XXX
+ SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 354 ES_RPM: 8 XXX
+ SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Activated : 9|1@0+ (1,0) [0|3] "" XXX
+ SG_ Checksum : 39|8@0+ (1,0) [0|65535] "" XXX
+ SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
+ SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
+
+BO_ 356 ES_LKAS: 8 XXX
+ SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
+
+BO_ 358 ES_DashStatus: 8 XXX
+ SG_ Counter : 39|3@0+ (1,0) [0|7] "" XXX
+ SG_ Obstacle_Distance : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Off : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ Car_Follow : 46|1@1+ (1,0) [0|255] "" XXX
+ SG_ Driver_Input : 20|1@0+ (1,0) [0|15] "" XXX
+ SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|3] "" XXX
+ SG_ Untitled_Blank : 18|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_6_Blank : 21|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4_Blank : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 35|1@0+ (1,0) [0|31] "" XXX
+ SG_ Steep_Hill_Disengage : 44|1@0+ (1,0) [0|3] "" XXX
+ SG_ ES_Error : 32|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX
+ SG_ Disengage_Alert : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ 3SecondDisengage : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 359 ES_LDW: 8 XXX
+ SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
+ SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Steer_Active_2017 : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
+ SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig2All_Depart : 28|1@0+ (1,0) [0|3] "" XXX
+ SG_ Sig1All_Depart : 31|1@0+ (1,0) [0|15] "" XXX
+ SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
+ SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
+ SG_ Left_Depart_Front : 51|1@0+ (1,0) [0|3] "" XXX
+ SG_ Sig3All_Depart : 52|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 392 Counter_0: 8 XXX
+ SG_ Counter : 16|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 554 NEW_MSG_3: 8 XXX
+ SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
+
+BO_ 604 undefined: 8 XXX
+
+BO_ 640 NEW_MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 54|2@0+ (1,0) [0|15] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 34|2@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_6 : 0|1@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_7 : 38|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 642 Dashlights: 8 XXX
+ SG_ NEW_SIGNAL_2 : 32|1@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 34|2@1+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLINKER : 44|1@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_BLINKER : 45|1@0+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 644 NEW_MSG_8: 8 XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 805 undefined: 8 XXX
+
+BO_ 880 Steer_Torque_2: 8 XXX
+ SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 48|4@1- (1,0) [0|15] "" XXX
+ SG_ Steering_Voltage_Flat : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 30|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4_2017 : 52|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5_2017 : 54|1@0+ (1,0) [0|3] "" XXX
+ SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
+
+BO_ 881 Steering_Torque: 8 XXX
+ SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX
+ SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX
+ SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|-8500] "" XXX
+ SG_ Steering_Angle : 40|16@1- (-0.026,0) [-600|600] "" XXX
+ SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 882 Counter: 8 XXX
+ SG_ Counter : 15|4@0+ (1,0) [0|31] "" XXX
+ SG_ Something : 16|2@1+ (1,0) [0|255] "" XXX
+
+BO_ 884 BodyInfo: 8 XXX
+ SG_ DOOR_OPEN_FR : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_Hatch : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ _UNKNOWN : 2|3@0+ (1,0) [0|1] "" XXX
+
+BO_ 886 undefined: 8 XXX
+
+BO_ 864 Engine_Temp: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 44|1@1+ (1,0) [0|3] "" XXX
+ SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
+ SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
+ SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
+
+BO_ 865 NEW_MSG_16: 8 XXX
+ SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 12|1@1+ (1,0) [0|255] "" XXX
+
+BO_ 866 Fuel__: 8 XXX
+ SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_3 : 35|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 0|16@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|32767] "" XXX
+
+BO_ 872 NEW_MSG_15: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|65535] "" XXX
+
+BO_ 977 NEW_MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 16|12@1+ (1,0) [0|255] "" XXX
+
+BO_ 1632 Huge_Counter: 8 XXX
+ SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1745 NEW_MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 24|6@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 40|6@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 0|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1786 NEW_MSG_9: 8 XXX
+ SG_ Counter : 3|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 8|16@1+ (1,0) [0|15] "" XXX
+
+
+
+
+CM_ SG_ 2 NEW_SIGNAL_1 "";
+CM_ SG_ 211 Brake_Pedal_On "high tolerance";
+CM_ SG_ 212 FL "KPH";
+CM_ SG_ 212 RL "KPH";
+CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
+CM_ SG_ 320 Throttle_Body_ "Throttle related";
+CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
+CM_ SG_ 353 NEW_SIGNAL_3_Blank "always 2";
+CM_ SG_ 353 NEW_SIGNAL_2_Blank "0";
+CM_ SG_ 353 NEW_SIGNAL_9 "flipped around quick engagement";
+CM_ SG_ 353 NEW_SIGNAL_6_Blank "always 1";
+CM_ SG_ 353 Brake_On "long activatedish";
+CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
+CM_ SG_ 358 Car_Follow "front car detected";
+CM_ SG_ 358 ES_Error "No engagement until restart";
+CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
+CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
+CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
+CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
+CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
+CM_ SG_ 359 Sig2All_Depart "Left and right depart";
+CM_ SG_ 359 Sig1All_Depart "Left and right depart";
+CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
+CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
+CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
+CM_ SG_ 642 Counter "Affected by signals";
+CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
+CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
+CM_ SG_ 880 NEW_SIGNAL_1 "0 in 2017";
+CM_ SG_ 880 NEW_SIGNAL_4_2017 "1 in 2017";
+CM_ SG_ 880 NEW_SIGNAL_5_2017 "1 in 2017";