update ota/recovery url

re-add apks
bug fix
2026-07-09 23:12:08 +08:00 · 2020-11-10 12:42:07 +10:00 · 2020-04-07 18:43:13 +10:00 · 2019-11-15 18:30:03 +10:00 · 2019-11-15 09:25:54 +10:00 · 2019-11-15 09:10:53 +10:00
530 changed files with 15731 additions and 8013 deletions
@@ -0,0 +1,25 @@
+---
+name: Bug report
+about: Create a report to help us improve openpilot
+title: ''
+labels: 'bug'
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**How to reproduce or log data**
+Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+** Device/Version information (please complete the following information):**
+ - Device: [e.g. EON/EON Gold]
+ - Version: [e.g. 0.6.4], or commit hash when on devel
+ - Car make/model [e.g. Toyota Prius 2016]
+
+**Additional context**
+Add any other context about the problem here.
@@ -0,0 +1,21 @@
+Choose one of the templates below:
+
+# Fingerprint
+This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
+
+This is an explorer link to a drive with the stock system enabled: ...
+
+# Car support
+This pull requests adds support for <Make - Model - Year - Trim>.
+
+This is an explorer link to a drive with the stock system enabled: ...
+This is an explorer link to a drive with openpilot system enabled: ...
+
+# Feature
+This pull requests adds feature X
+
+## Description
+Explain what the feature does
+
+## Testing
+Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
@@ -4,6 +4,7 @@ venv/
 .ipynb_checkpoints
 .idea
 .sconsign.dblite
+.vscode
 model2.png
 a.out

@@ -30,7 +31,7 @@ selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui
-selfdrive/test/tests/plant/out
+selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
 selfdrive/sensord/gpsd
@@ -42,3 +43,6 @@ openpilot
 notebooks
 xx

+.coverage*
+htmlcov
+
@@ -6,43 +6,66 @@ RUN apt-get update && apt-get install -y \
    build-essential \
    bzip2 \
    clang \
+    cmake \
+    curl \
+    ffmpeg \
    git \
    libarchive-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavfilter-dev \
-    libavresample-dev \
-    libavutil-dev \
+    libbz2-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
    libffi-dev \
+    libglew-dev \
    libglib2.0-0 \
+    liblzma-dev \
+    libmysqlclient-dev \
+    libomp-dev \
+    libopencv-dev \
    libssl-dev \
-    libswscale-dev \
    libtool \
    libusb-1.0-0 \
    libzmq5-dev \
+    locales \
    ocl-icd-libopencl1 \
    ocl-icd-opencl-dev \
    opencl-headers \
-    pkg-config \
+    python-dev \
    python-pip \
+    screen \
+    sudo \
+    vim \
    wget

-COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
-RUN /tmp/install_capnp.sh

-RUN pip install --upgrade pip==18.0
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+
 RUN pip install pipenv==2018.11.26

 COPY Pipfile /tmp/
 COPY Pipfile.lock /tmp/
-RUN cd /tmp && pipenv install --deploy --system

-ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+RUN python --version
+RUN cd /tmp && pipenv install --system --deploy

-RUN git clone --branch v0.6.2 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
-RUN pip install -r /tmp/openpilot/tools/requirements.txt
-RUN pip install fastcluster==1.1.20 scipy==0.19.1 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0
+# Install subset of dev dependencies needed for CI
+RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3

+COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
+RUN /tmp/install_capnp.sh
+
+RUN git clone --branch v0.6.5 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
+
+ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
 COPY ./.pylintrc /tmp/openpilot/.pylintrc
 COPY ./common /tmp/openpilot/common
 COPY ./cereal /tmp/openpilot/cereal
@@ -4,16 +4,17 @@ url = "https://pypi.org/simple"
 verify_ssl = true

 [dev-packages]
-ipython = "<6.0"
-aenum = "*"
-azure-batch = "==4.1.3"
-azure-common = "==1.1.16"
-azure-nspkg = "==3.0.1"
-azure-storage-blob = "==1.3.1"
-azure-storage-common = "==1.3.0"
-azure-storage-nspkg = "==3.0.0"
+opencv-python= "==3.4.2.17"
+PyQt5 = "*"
+ipython = "*"
+networkx = "*"
+azure-common = "*"
+azure-nspkg = "*"
+azure-storage-blob = "*"
+azure-storage-common = "*"
+azure-storage-nspkg = "*"
 bincopy = "*"
-bleach = "==1.5.0"
+bleach = "*"
 boto = "*"
 "boto3" = "*"
 celery = "*"
@@ -23,7 +24,6 @@ decorator = "*"
 dlib = "*"
 dominate = "*"
 elasticsearch = "*"
-entium = "==0.1.4"
 fasteners = "*"
 future = "*"
 futures = "*"
@@ -32,32 +32,31 @@ pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory =
 gunicorn = "*"
 "h5py" = "*"
 hexdump = "*"
-"html5lib" = "==0.9999999"
+"html5lib" = "*"
 imageio = "*"
 intervaltree = "*"
-ipykernel = "<5.0"
+ipykernel = "*"
 joblib = "*"
 json-logging-py = "*"
 jupyter = "*"
 libarchive = "*"
 lru-dict = "*"
 lxml = "*"
-matplotlib = "==2.2.3"
 "mpld3" = "*"
 msgpack-python = "*"
 nbstripout = "*"
 nose-parameterized = "*"
-numpy = "==1.14.5"
-osmium = "==2.15.0"
-pbr = "==5.1.3"
+numpy = "*"
+osmium = "*"
+pbr = "*"
 percache = "*"
 pprofile = "*"
 psutil = "*"
 pycurl = "*"
-git-pylint-commit-hook = "==2.5.1"
+git-pylint-commit-hook = "*"
 pymongo = "*"
 "pynmea2" = "*"
-pypolyline = "==0.1.17"
+pypolyline = "*"
 pysendfile = "*"
 python-logstash = "*"
 pyvcd = "*"
@@ -68,11 +67,9 @@ scikit-image = "*"
 "subprocess32" = "*"
 supervisor = "*"
 tenacity = "*"
-tensorflow-gpu = "==1.13.0rc0"
-"transforms3d" = "*"
+tensorflow-gpu = ""
 utm = "*"
 "v4l2" = "*"
-visdom = "*"
 PyJWT = "==1.4.1"
 PyMySQL = "==0.9.2"
 Theano = "*"
@@ -81,26 +78,29 @@ Werkzeug = "*"
 Flask-Cors = "*"
 Flask-SocketIO = "*"
 "GeoAlchemy2" = "*"
-Keras = ">=2.1.6"
-keras-maskrcnn = "*"
-keras-retinanet = "*"
 Pygments = "*"
 PyNaCl = "*"
 "PySDL2" = "*"
 reverse_geocoder = "*"
 Shapely = "*"
-SQLAlchemy = "==1.2.7"
+SQLAlchemy = "*"
 uWSGI = "*"
 scipy = "*"
-fastcluster = "==1.1.25"
+fastcluster = "*"
 backports-abc = "*"
 pygame = "*"
 simplejson = "*"
 python-logstash-async = "*"
-pandas = "*"
 seaborn = "*"
-tensorflow-estimator = "==1.10.12"
+tensorflow-estimator = "*"
 pyproj = "*"
+mock = "*"
+blinker = "*"
+gast = "==0.2.2"
+matplotlib = "*"
+dictdiffer = "*"
+aenum = "*"
+coverage = "*"

 [packages]
 overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
@@ -126,7 +126,7 @@ tqdm = "*"
 Cython = "*"
 PyYAML = "*"
 websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "5eef8f5be5929d33973e1b10e686fa0cdcd6792f"}
+Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
 urllib3 = "*"
 chardet = "*"
 idna = "*"
@@ -137,9 +137,10 @@ Flask = "*"
 PyJWT = "*"
 "Jinja2" = "*"
 nose = "*"
-pyflakes = "*"
+flake8 = "*"
 pylint = "*"
 pycryptodome = "*"
+pillow = "*"

 [requires]
-python_version = "2.7"
+python_version = "3.7.3"
@@ -3,7 +3,7 @@
 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 driver assistance system. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia, Subaru, Volkswagen. 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 to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.

@@ -29,114 +29,116 @@ Community

 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 [Discord](https://discord.comma.ai).
+[Follow us on Twitter](https://twitter.com/comma_ai) and [join our Discord](https://discord.comma.ai).

 <table>
  <tr>
-    <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>
+    <td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
  </tr>
  <tr>
-    <td><a href="https://www.youtube.com/watch?v=Z5VY5FzgNt4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3I9XOK2.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=blnhZC7OmMg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/f9IgX6s.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=iRkz7FuJsA8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Vo5Zvmn.png"></a></td>
-    <td><a href="https://www.youtube.com/watch?v=IHjEqAKDqjM" title="YouTube" rel="noopener"><img src="https://i.imgur.com/V9Zd81n.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
+    <td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
  </tr>
 </table>

 Hardware
 ------

-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.
+At the moment openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON to 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 (US Market Reference)| Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| ---------------------| ---------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Acura                | ILX 2016-18                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
-| Acura                | RDX 2016-18                | 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 2017-18           | 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 2018-19             | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
-| Honda                | Accord Hybrid 2018-19      | 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 2017-2019      | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          | Bosch             |
-| Honda                | Fit 2018-19                | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Inverted Nidec    |
-| Honda                | Odyssey 2018-19            | 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 2017-19            | 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 2016-18     | 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                | ES Hybrid 2019             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Lexus                | RX Hybrid 2016-19          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Lexus                | IS 2017-2019               | All                  | Yes     | Stock          | 22mph            | 0mph           | Toyota            |
-| Lexus                | IS Hybrid 2017             | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Subaru               | Crosstrek 2018             | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Subaru               | Impreza 2019               | EyeSight             | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>4</sup>|
-| Toyota               | Avalon 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Avalon 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Camry 2018-19              | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | Camry Hybrid 2018-19       | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
-| Toyota               | C-HR 2017-19               | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | C-HR Hybrid 2017-19        | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
-| Toyota               | Corolla 2020               | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla Hatchback 2019     | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander 2017-19         | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander Hybrid 2017-19  | 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 2017-20        | 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 2016           | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 Hybrid 2017-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Sienna 2018                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Make                  | Model (US Market Reference)        | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| ----------------------| -----------------------------------| ---------------------| --------| ---------------| -----------------| ---------------|
+| Acura                 | ILX 2016-18                        | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          |
+| Acura                 | RDX 2016-18                        | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Buick<sup>3</sup>     | Regal 2018<sup>6</sup>             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Chevrolet<sup>3</sup> | Malibu 2017<sup>6</sup>            | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Chevrolet<sup>3</sup> | Volt 2017-18<sup>6</sup>           | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Cadillac<sup>3</sup>  | ATS 2018                           | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Chrysler              | Pacifica 2017-18<sup>7</sup>       | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           |
+| Chrysler              | Pacifica Hybrid 2017-18<sup>7</sup>| Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           |
+| Chrysler              | Pacifica Hybrid 2019<sup>7</sup>   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          |
+| GMC<sup>3</sup>       | Acadia Denali 2018<sup>6</sup>     | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Holden<sup>3</sup>    | Astra 2017<sup>6</sup>             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           |
+| Honda                 | Accord 2018-19                     | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda                 | Accord Hybrid 2018-19              | All                  | Yes     | Stock          | 0mph             | 3mph           |
+| Honda                 | Civic Sedan/Coupe 2016-18          | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          |
+| Honda                 | Civic Sedan/Coupe 2019             | Honda Sensing        | Yes     | Stock          | 0mph             | 2mph           |
+| Honda                 | Civic Hatchback 2017-19            | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                 | CR-V 2015-16                       | Touring              | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | CR-V 2017-19                       | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                 | CR-V Hybrid 2017-2019              | Honda Sensing        | Yes     | Stock          | 0mph             | 12mph          |
+| Honda                 | Fit 2018-19                        | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | Odyssey 2018-19                    | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 0mph           |
+| Honda                 | Passport 2019                      | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | Pilot 2016-18                      | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | Pilot 2019                         | All                  | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda                 | Ridgeline 2017-19                  | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Hyundai               | Santa Fe 2019<sup>5</sup>          | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Hyundai               | Elantra 2017-19<sup>5</sup>        | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          |
+| Hyundai               | Genesis 2018<sup>5</sup>           | All                  | Yes     | Stock          | 19mph            | 34mph          |
+| Jeep                  | Grand Cherokee 2016-18<sup>7</sup> | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           |
+| Jeep                  | Grand Cherokee 2019<sup>7</sup>    | Adaptive Cruise      | Yes     | Stock          | 0mph             | 39mph          |
+| Kia                   | Optima 2019<sup>5</sup>            | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           |
+| Kia                   | Sorento 2018<sup>5</sup>           | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Kia                   | Stinger 2018<sup>5</sup>           | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           |
+| Lexus                 | CT Hybrid 2017-18                  | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus                 | ES Hybrid 2019                     | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Lexus                 | RX Hybrid 2016-19                  | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Lexus                 | IS 2017-2019                       | All                  | Yes     | Stock          | 22mph            | 0mph           |
+| Lexus                 | IS Hybrid 2017                     | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Subaru                | Crosstrek 2018-19                  | EyeSight             | Yes     | Stock          | 0mph             | 0mph           |
+| Subaru                | Impreza 2019-20                    | EyeSight             | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota                | Avalon 2016                        | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Avalon 2017-18                     | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Camry 2018-19                      | All                  | Yes     | Stock          | 0mph<sup>4</sup> | 0mph           |
+| Toyota                | Camry Hybrid 2018-19               | All                  | Yes     | Stock          | 0mph<sup>4</sup> | 0mph           |
+| Toyota                | C-HR 2017-19                       | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota                | C-HR Hybrid 2017-19                | All                  | Yes     | Stock          | 0mph             | 0mph           |
+| Toyota                | Corolla 2017-19                    | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Corolla 2020                       | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Toyota                | Corolla Hatchback 2019             | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Toyota                | Corolla Hybrid 2020                | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Toyota                | Highlander 2017-19                 | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Highlander Hybrid 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Prius 2016                         | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Prius 2017-19                      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Prius Prime 2017-20                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Rav4 2016                          | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Rav4 2017-18                       | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           |
+| Toyota                | Rav4 2019                          | All                  | Yes     | Yes            | 0mph             | 0mph           |
+| Toyota                | Rav4 Hybrid 2016                   | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Rav4 Hybrid 2017-18                | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Toyota                | Sienna 2018                        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           |
+| Volkswagen<sup>8</sup>| Golf 2016-19                       | Driver Assistance    | Yes     | Stock          | 0mph             | 0mph           |

 <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).*** <br />
 <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). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
 <sup>3</sup>[GM installation guide](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
-<sup>4</sup>Subaru Giraffe is DIY. <br />
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<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. <br />
-<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
+<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>5</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
+<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and community built giraffe, find more information [here](https://zoneos.com/shop/). <br />
+<sup>7</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and FCA [giraffe](https://comma.ai/shop/products/giraffe) <br />
+<sup>8</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_J533_Gateway) for the [car harness](https://comma.ai/shop/products/car-harness) <br />

 Community Maintained Cars
 ------

-| Make                 | Model                    | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below | Giraffe           |
-| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
-| Tesla                | Model S 2012-13          | All                  | Yes     | Not yet        | Not applicable   | 0mph           | Custom<sup>8</sup>|
+| Make                 | Model (US Market Reference)        | Supported Package    | Lateral | Longitudinal   | No Accel Below   | No Steer Below |
+| ---------------------| -----------------------------------| ---------------------| --------| ---------------| -----------------| ---------------|
+| Tesla                | Model S 2012-13<sup>9</sup>        | All                  | Yes     | NA             | NA               | 0mph           |

 [[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 />
+<sup>9</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and community built giraffe, find more information [here](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.

@@ -144,9 +146,10 @@ In Progress Cars
 ------
 - All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
 - All Hyundai with SmartSense.
- All Kia with SCC and LKAS.
+- All Kia, Genesis with SCC and LKAS.
 - All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
 - All Subaru with EyeSight.
+- All Volkswagen, Audi, Škoda and SEAT with Adaptive Cruise Control.

 How can I add support for my car?
 ------
@@ -201,7 +204,7 @@ It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, cr
 The user facing camera is only logged if you explicitly opt-in in settings.
 It does not log the microphone.

-By using it, you agree to [our privacy policy](https://community.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
+By using it, you agree to [our privacy policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.

 Testing on PC
 ------
@@ -1,3 +1,30 @@
+Version 0.6.6 (2019-11-05)
+========================
+ * Volkswagen support thanks to jyoung8607!
+ * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
+ * Lexus ES with TSS 2.0 support thanks to energee!
+ * Fix GM ignition detection and lock safety mode not required anymore
+ * Log panda firmware and dongle ID thanks to martinl!
+ * New driving model: improve path prediction and lead detection
+ * New driver monitoring model, 4x smaller and running on DSP
+ * Display an alert and don't start openpilot if panda has wrong firmware
+ * Fix bug preventing EON from terminating processes after a drive
+ * Remove support for Toyota giraffe without the 120Ohm resistor
+
+Version 0.6.5 (2019-10-07)
+========================
+ * NEOS update: upgrade to Python3 and new installer!
+ * comma Harness support!
+ * New driving model: improve path prediction
+ * New driver monitoring model: more accurate face and eye detection
+ * Redesign offroad screen to display updates and alerts
+ * Increase maximum allowed acceleration
+ * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
+ * Lexus CT Hybrid support thanks to thomaspich!
+ * Louder chime for critical alerts
+ * Add toggle to switch to dashcam mode
+ * Fix "invalid vehicle params" error on DSU-less Toyota
+
 Version 0.6.4 (2019-09-08)
 ========================
 * Forward stock AEB for Honda Nidec
@@ -48,7 +75,7 @@ Version 0.6 (2019-07-01)
 * Panda safety code is MISRA compliant and ships with a signed version on release2
 * New NEOS is 500MB smaller and has a reproducible usr/pipenv
 * Lexus ES Hybrid support thanks to wocsor!
- * Improve tuning for supported Toyota with TSS2
+ * Improve tuning for supported Toyota with TSS 2.0
 * Various other stability improvements

 Version 0.5.13 (2019-05-31)
@@ -1,8 +1,8 @@
 openpilot Safety
 ======

-openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
-Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
+openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. 
+Like other ACC and ALC systems, openpilot requires the driver to be alert and to 
 pay attention at all times. We repeat, **driver alertness is necessary, but not 
 sufficient, for openpilot to be used safely**.

@@ -93,7 +93,7 @@ GM/Chevrolet
    commands outside these limits.  A steering torque rate limit is enforced by the panda firmware and by
    openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
    0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
-    torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
+    torque exceeds 12 units in the opposite direction to ensure limited applied torque against the
    driver's will.

  - Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
@@ -116,7 +116,7 @@ Hyundai/Kia (Lateral only)
    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
+    torque exceeds 50 units in the opposite direction to ensure limited applied torque against the
    driver's will.

 Chrysler/Jeep/Fiat (Lateral only)
@@ -144,8 +144,31 @@ Subaru (Lateral only)
    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
+    torque exceeds 60 units in the opposite direction to ensure limited applied torque against the
    driver's will.

+Volkswagen, Audi, SEAT, Škoda (Lateral only)
+------
+
+  - While the system is engaged, steer commands are subject to the same limits used by the stock system, and
+    additional limits required to meet Comma safety standards.
+
+  - Steering torque is controlled through the CAN message 0x126, also known as HCA_01 for Heading Control Assist.
+    It's limited by openpilot and Panda to a value between -250 and 250, representing 2.5 Nm of torque applied 
+    at the steering rack. The vehicle EPS unit will fault for values outside -300 and 300.
+
+  - The vehicle EPS unit will tolerate any rate of increase or decrease, but may limit the effective rate of
+    change to 5.0 Nm/s. In accordance with the Comma AI safety model requirements, a rate limit is enforced by
+    the Panda firmware and by openpilot, so that the commanded steering torque cannot rise from 0 to maximum
+    faster than 1.25s. Commanded steering torque is gradually limited by the Panda firmware and by openpilot
+    if the driver's torque exceeds 0.8 Nm in the opposite direction to ensure limited applied torque against
+    the driver's will.
+
+  - Brake and gas pedal pressed signals are contained in the ESP_05 0x106 and Motor_20 0x121 CAN messages,
+    respectively. A rising edge of either signals triggers a disengagement and is enforced by openpilot.
+    The cancellation due to the rising edge of the gas pressed signal is also enforced by the Panda firmware. 
+    Additionally, the cruise control system disengages on the rising edge of the brake pedal pressed signal,
+    and it's enforced by both openpilot and the Panda firmware.
+
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
  not fully meeting the above requirements.
@@ -82,8 +82,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preLaneChangeLeft @57;
    preLaneChangeRight @58;
    laneChange @59;
-    manualSteeringRequired @60;
-    manualSteeringRequiredBlinkersOn @61;
+    invalidGiraffeToyota @60;
+    internetConnectivityNeeded @61;
+    manualSteeringRequired @62;
+    manualSteeringRequiredBlinkersOn @63;
+    leadCarMoving @64;
+    leadCarDetected @65;
  }
 }

@@ -135,6 +139,9 @@ struct CarState {
  seatbeltUnlatched @25 :Bool;
  canValid @26 :Bool;

+  # clutch (manual transmission only)
+  clutchPressed @28 :Bool;
+
  # which packets this state came from
  canMonoTimes @12: List(UInt64);

@@ -163,6 +170,8 @@ struct CarState {
    sport @5;
    low @6;
    brake @7;
+    eco @8;
+    manumatic @9;
  }


@@ -181,6 +190,9 @@ struct CarState {
      altButton1 @6;
      altButton2 @7;
      altButton3 @8;
+      setCruise @9;
+      resumeCruise @10;
+      gapAdjustCruise @11;
    }
  }
 }
@@ -273,6 +285,7 @@ struct CarControl {
      wrongGear @4;
      seatbeltUnbuckled @5;
      speedTooHigh @6;
+      ldw @7;
    }

    enum AudibleAlert {
@@ -350,6 +363,7 @@ struct CarParams {
  carVin @38 :Text; # VIN number queried during fingerprinting
  isPandaBlack @39: Bool;
  dashcamOnly @41: Bool;
+  transmissionType @43 :TransmissionType;

  struct LateralPIDTuning {
    kpBP @0 :List(Float32);
@@ -390,9 +404,7 @@ struct CarParams {
    l @7 :List(Float32);  # Kalman gain
  }

-
  enum SafetyModel {
-    # does NOT match board setting
    noOutput @0;
    honda @1;
    toyota @2;
@@ -406,10 +418,22 @@ struct CarParams {
    tesla @10;
    subaru @11;
    gmPassive @12;
+    mazda @13;
+    nissan @14;
+    volkswagen @15;
+    toyotaIpas @16;
+    allOutput @17;
+    gmAscm @18;
  }

  enum SteerControlType {
    torque @0;
    angle @1;
  }
+
+  enum TransmissionType {
+    unknown @0;
+    automatic @1;
+    manual @2;
+  }
 }
@@ -298,7 +298,7 @@ struct HealthData {
  # from can health
  voltage @0 :UInt32;
  current @1 :UInt32;
-  started @2 :Bool;
+  ignitionLine @2 :Bool;
  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
  startedSignalDetectedDeprecated @5 :Bool;
@@ -306,7 +306,11 @@ struct HealthData {
  canSendErrs @7 :UInt32;
  canFwdErrs @8 :UInt32;
  gmlanSendErrs @9 :UInt32;
-  hwType @10: HwType;
+  hwType @10 :HwType;
+  fanSpeedRpm @11 :UInt16;
+  usbPowerMode @12 :UsbPowerMode;
+  ignitionCan @13 :Bool;
+  safetyModel @14 :Car.CarParams.SafetyModel;

  enum HwType {
    unknown @0;
@@ -314,6 +318,14 @@ struct HealthData {
    greyPanda @2;
    blackPanda @3;
    pedal @4;
+    uno @5;
+  }
+
+  enum UsbPowerMode {
+    none @0;
+    client @1;
+    cdp @2;
+    dcp @3;
  }
 }

@@ -1714,6 +1726,7 @@ struct DriverMonitoring {
  rightEyeProb @7 :Float32;
  leftBlinkProb @8 :Float32;
  rightBlinkProb @9 :Float32;
+  irPwr @10 :Float32;
 }

 struct Boot {
@@ -1,6 +1,7 @@
 #!/bin/bash

-pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
+# Only pyflakes checks (--select=F)
+flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
 RESULT=$?
 if [ $RESULT -eq 0 ]; then
    pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
@@ -4,7 +4,7 @@ from datetime import datetime, timedelta

 from selfdrive.version import version

-class Api(object):
+class Api():
  def __init__(self, dongle_id):
    self.dongle_id = dongle_id
    with open('/persist/comma/id_rsa') as f:
@@ -27,7 +27,7 @@ class Api(object):
      'iat': now,
      'exp': now + timedelta(hours=1)
    }
-    return jwt.encode(payload, self.private_key, algorithm='RS256')
+    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')

 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
  backend = "https://api.commadotai.com/"
@@ -0,0 +1,23 @@
+import os
+import sysconfig
+from Cython.Distutils import build_ext
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
@@ -17,10 +17,10 @@ DBCSignal = namedtuple(
                "factor", "offset", "tmin", "tmax", "units"])


-class dbc(object):
+class dbc():
  def __init__(self, fn):
    self.name, _ = os.path.splitext(os.path.basename(fn))
-    with open(fn) as f:
+    with open(fn, encoding="ascii") as f:
      self.txt = f.readlines()
    self._warned_addresses = set()

@@ -41,7 +41,7 @@ class dbc(object):
    self.def_vals = defaultdict(list)

    # lookup to bit reverse each byte
-    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in range(64)]

    for l in self.txt:
      l = l.strip()
@@ -101,13 +101,8 @@ class dbc(object):
        defvals = defvals.replace("?",r"\?") #escape sequence in C++
        defvals = defvals.split('"')[:-1]

-        defs = defvals[1::2]
-        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
-        for i,d in enumerate(defs):
-          d = defs[i].strip().upper()
-          defs[i] = d.replace(" ","_")
-
-        defvals[1::2] = defs
+        # convert strings to UPPER_CASE_WITH_UNDERSCORES
+        defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
        defvals = '"'+"".join(str(i) for i in defvals)+'"'

        self.def_vals[ids].append((sgname, defvals))
@@ -152,22 +147,20 @@ class dbc(object):
      ival = dd.get(s.name)
      if ival is not None:

-        b2 = s.size
-        if s.is_little_endian:
-          b1 = s.start_bit
-        else:
-          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
-        bo = 64 - (b1 + s.size)
-
        ival = (ival / s.factor) - s.offset
        ival = int(round(ival))

        if s.is_signed and ival < 0:
-          ival = (1 << b2) + ival
+          ival = (1 << s.size) + ival

-        shift = b1 if s.is_little_endian else bo
-        mask = ((1 << b2) - 1) << shift
-        dat = (ival & ((1 << b2) - 1)) << shift
+        if s.is_little_endian:
+          shift = s.start_bit
+        else:
+          b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
+          shift = 64 - (b1 + s.size)
+
+        mask = ((1 << s.size) - 1) << shift
+        dat = (ival & ((1 << s.size) - 1)) << shift

        if s.is_little_endian:
          mask = self.reverse_bytes(mask)
@@ -213,7 +206,7 @@ class dbc(object):
    if debug:
      print(name)

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

    for s in msg[1]:
@@ -227,30 +220,24 @@ class dbc(object):
      factor = s[5]
      offset = s[6]

-      b2 = signal_size
-      if little_endian:
-        b1 = start_bit
-      else:
-        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
-      bo = 64 - (b1 + signal_size)
-
      if little_endian:
        if le is None:
          le = struct.unpack("<Q", st)[0]
-        shift_amount = b1
        tmp = le
+        shift_amount = start_bit
      else:
        if be is None:
          be = struct.unpack(">Q", st)[0]
-        shift_amount = bo
        tmp = be
+        b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
+        shift_amount = 64 - (b1 + signal_size)

      if shift_amount < 0:
        continue

-      tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
-      if signed and (tmp >> (b2 - 1)):
-        tmp -= (1 << b2)
+      tmp = (tmp >> shift_amount) & ((1 << signal_size) - 1)
+      if signed and (tmp >> (signal_size - 1)):
+        tmp -= (1 << signal_size)

      tmp = tmp * factor + offset

@@ -9,7 +9,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
  if libraries is None:
    libraries = []

-  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
+  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
  try:
    os.mkdir(tmpdir)
  except OSError:
@@ -32,7 +32,7 @@ def get_tmpdir_on_same_filesystem(path):
    return "/{}/runner/tmp".format(parts[1])
  return "/tmp"

-class AutoMoveTempdir(object):
+class AutoMoveTempdir():
  def __init__(self, target_path, temp_dir=None):
    self._target_path = target_path
    self._path = tempfile.mkdtemp(dir=temp_dir)
@@ -52,7 +52,7 @@ class AutoMoveTempdir(object):
    else:
      shutil.rmtree(self._path)

-class NamedTemporaryDir(object):
+class NamedTemporaryDir():
  def __init__(self, temp_dir=None):
    self._path = tempfile.mkdtemp(dir=temp_dir)

@@ -1,7 +1,7 @@
 all: simple_kalman_impl.so

 simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
-	python2 simple_kalman_setup.py build_ext --inplace
+	python3 simple_kalman_setup.py build_ext --inplace
 	rm -rf build
 	rm simple_kalman_impl.c

@@ -5,6 +5,5 @@ import subprocess
 kalman_dir = os.path.dirname(os.path.abspath(__file__))
 subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)

-from simple_kalman_impl import KF1D as KF1D
-# Silence pyflakes
+from .simple_kalman_impl import KF1D as KF1D
 assert KF1D
@@ -1,3 +1,4 @@
+# cython: language_level=3

 cdef class KF1D:
  def __init__(self, x0, A, C, K):
@@ -32,4 +33,4 @@ cdef class KF1D:
  @x.setter
  def x(self, x):
    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]
+    self.x1_0 = x[1][0]
@@ -1,5 +1,9 @@
-from distutils.core import setup, Extension
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
 from Cython.Build import cythonize

+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
 setup(name='Simple Kalman Implementation',
-      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
@@ -12,7 +12,10 @@ def interp(x, xp, fp):
      hi += 1
    low = hi - 1
    return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 else 
+      fp[0] if hi == 0 else
      (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
  return [get_interp(v) for v in x] if hasattr(
    x, '__iter__') else get_interp(x)
+
+def mean(x):
+  return sum(x) / len(x)
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 """ROS has a parameter server, we have files.

 The parameter store is a persistent key value store, implemented as a directory with a writer lock.
@@ -59,39 +59,48 @@ keys = {
  "ControlsParams": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
  "DongleId": [TxType.PERSISTENT],
-  "GithubSshKeys": [TxType.PERSISTENT],
  "GitBranch": [TxType.PERSISTENT],
  "GitCommit": [TxType.PERSISTENT],
  "GitRemote": [TxType.PERSISTENT],
+  "GithubSshKeys": [TxType.PERSISTENT],
  "HasAcceptedTerms": [TxType.PERSISTENT],
+  "HasCompletedSetup": [TxType.PERSISTENT],
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
  "IsRHD": [TxType.PERSISTENT],
  "IsUpdateAvailable": [TxType.PERSISTENT],
  "IsUploadRawEnabled": [TxType.PERSISTENT],
  "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
+  "LastUpdateTime": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
  "LimitSetSpeedNeural": [TxType.PERSISTENT],
  "LiveParameters": [TxType.PERSISTENT],
  "LongitudinalControl": [TxType.PERSISTENT],
+  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
+  "PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "Passive": [TxType.PERSISTENT],
  "RecordFront": [TxType.PERSISTENT],
+  "ReleaseNotes": [TxType.PERSISTENT],
  "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
  "SpeedLimitOffset": [TxType.PERSISTENT],
  "SubscriberInfo": [TxType.PERSISTENT],
  "TermsVersion": [TxType.PERSISTENT],
  "TrainingVersion": [TxType.PERSISTENT],
+  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
  "Version": [TxType.PERSISTENT],
+  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
  #dragonpilot config
  "DragonEnableDashcam": [TxType.PERSISTENT],
-  "DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
  "DragonAutoShutdownAt": [TxType.PERSISTENT],
-  "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
-  "DragonDisableLogger": [TxType.PERSISTENT], # deprecated
  "DragonEnableLogger": [TxType.PERSISTENT],
-  "DragonDisableUploader": [TxType.PERSISTENT], # deprecated
  "DragonEnableUploader": [TxType.PERSISTENT],
  "DragonNoctuaMode": [TxType.PERSISTENT],
  "DragonCacheCar": [TxType.PERSISTENT],
@@ -99,7 +108,6 @@ keys = {
  "DragonCachedFP": [TxType.PERSISTENT],
  "DragonCachedVIN": [TxType.PERSISTENT],
  "DragonAllowGas": [TxType.PERSISTENT],
-  "DragonBBUI": [TxType.PERSISTENT], # deprecated
  "DragonToyotaStockDSU": [TxType.PERSISTENT],
  "DragonLatCtrl": [TxType.PERSISTENT],
  "DragonUISpeed": [TxType.PERSISTENT],
@@ -114,6 +122,9 @@ keys = {
  "DragonEnableAutonavi": [TxType.PERSISTENT],
  "DragonBootAutonavi": [TxType.PERSISTENT],
  "DragonRunAutonavi": [TxType.PERSISTENT],
+  "DragonEnableAegis": [TxType.PERSISTENT],
+  "DragonBootAegis": [TxType.PERSISTENT],
+  "DragonRunAegis": [TxType.PERSISTENT],
  "DragonEnableMixplorer": [TxType.PERSISTENT],
  "DragonRunMixplorer": [TxType.PERSISTENT],
  "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
@@ -131,6 +142,13 @@ keys = {
  "DragonUIPath": [TxType.PERSISTENT],
  "DragonUIBlinker": [TxType.PERSISTENT],
  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
+  "DragonCarModel": [TxType.PERSISTENT],
+  "DragonCarVIN": [TxType.PERSISTENT],
+  "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
+  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
+  "DragonToyotaSnGMod": [TxType.PERSISTENT],
+  "DragonIsEON": [TxType.PERSISTENT],
+  "DragonHWChecked": [TxType.PERSISTENT],
 }


@@ -142,7 +160,7 @@ def fsync_dir(path):
    os.close(fd)


-class FileLock(object):
+class FileLock():
  def __init__(self, path, create):
    self._path = path
    self._create = create
@@ -158,7 +176,7 @@ class FileLock(object):
      self._fd = None


-class DBAccessor(object):
+class DBAccessor():
  def __init__(self, path):
    self._path = path
    self._vals = None
@@ -328,6 +346,9 @@ def read_db(params_path, key):
    return None

 def write_db(params_path, key, value):
+  if isinstance(value, str):
+    value = value.encode('utf8')
+
  prev_umask = os.umask(0)
  lock = FileLock(params_path+"/.lock", True)
  lock.acquire()
@@ -346,7 +367,7 @@ def write_db(params_path, key, value):
    os.umask(prev_umask)
    lock.release()

-class Params(object):
+class Params():
  def __init__(self, db='/data/params'):
    self.db = db

@@ -377,7 +398,7 @@ class Params(object):
    with self.transaction(write=True) as txn:
      txn.delete(key)

-  def get(self, key, block=False):
+  def get(self, key, block=False, encoding=None):
    if key not in keys:
      raise UnknownKeyName(key)

@@ -387,9 +408,21 @@ class Params(object):
        break
      # is polling really the best we can do?
      time.sleep(0.05)
+
+    if ret is not None and encoding is not None:
+      ret = ret.decode(encoding)
+
    return ret

  def put(self, key, dat):
+    """
+    Warning: This function blocks until the param is written to disk!
+    In very rare cases this can take over a second, and your code will hang.
+
+    Use the put_nonblocking helper function in time sensitive code, but
+    in general try to avoid writing params as much as possible.
+    """
+
    if key not in keys:
      raise UnknownKeyName(key)

@@ -1,6 +1,6 @@
 import time

-class Profiler(object):
+class Profiler():
  def __init__(self, enabled=False):
    self.enabled = enabled
    self.cp = {}
@@ -19,6 +19,7 @@ assert sec_since_boot
 DT_CTRL = 0.01  # controlsd
 DT_PLAN = 0.05  # mpc
 DT_MDL = 0.05  # model
+DT_RDR = 0.05  # radar
 DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager

@@ -43,7 +44,7 @@ def set_realtime_priority(level):
  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])


-class Ratekeeper(object):
+class Ratekeeper():
  def __init__(self, rate, print_delay_threshold=0.):
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
@@ -0,0 +1,28 @@
+import os
+import subprocess
+from common.basedir import BASEDIR
+
+class Spinner():
+  def __enter__(self):
+    self.spinner_proc = subprocess.Popen(["./spinner"],
+                                         stdin=subprocess.PIPE,
+                                         cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                         close_fds=True)
+    return self
+
+  def update(self, spinner_text):
+    self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+    self.spinner_proc.stdin.flush()
+
+  def __exit__(self, type, value, traceback):
+    self.spinner_proc.stdin.close()
+    self.spinner_proc.terminate()
+
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+
@@ -11,7 +11,7 @@ class RunningStat():
      self.n = priors[2]
      self.M_last = self.M
      self.S_last = self.S
-      
+
    else:
      self.reset()

@@ -70,4 +70,4 @@ class RunningStatFilter():
      pass
      # self.filtered_stat.push_data(self.filtered_stat.mean())

-# class SequentialBayesian():
+# class SequentialBayesian():
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sympy as sp
 import numpy as np

@@ -125,7 +125,7 @@ def img_from_device(pt_device):

 #TODO please use generic img transform below
 def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
-  import cv2
+  import cv2  # pylint: disable=no-name-in-module, import-error

  size = img.shape[:2]
  rot = orient.rot_from_euler(eulers)
@@ -138,8 +138,8 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
  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
+    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) |
@@ -183,7 +183,8 @@ def transform_img(base_img,
                 alpha=1.0,
                 beta=0,
                 blur=0):
-  import cv2
+  import cv2  # pylint: disable=no-name-in-module, import-error
+  cv2.setNumThreads(1)

  if yuv:
    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
@@ -240,7 +241,7 @@ def transform_img(base_img,
 def yuv_crop(frame, output_size, center=None):
  # output_size in camera coordinates so u,v
  # center in array coordinates so row, column
-  import cv2
+  import cv2   # pylint: disable=no-name-in-module, import-error
  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
  if not center:
    center = (rgb.shape[0]/2, rgb.shape[1]/2)
@@ -65,7 +65,7 @@ def ecef2geodetic(ecef, radians=False):
  geodetic = np.column_stack((lat, lon, h))
  return geodetic.reshape(input_shape)

-class LocalCoord(object):
+class LocalCoord():
  """
   Allows conversions to local frames. In this case NED.
   That is: North East Down from the start position in
@@ -29,7 +29,7 @@ def euler2quat(eulers):
       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)

  quats = array([q0, q1, q2, q3]).T
-  for i in xrange(len(quats)):
+  for i in range(len(quats)):
    if quats[i,0] < 0:
      quats[i] = -quats[i]
  return quats.reshape(output_shape)
@@ -99,7 +99,7 @@ def rot2quat(rots):
  K3[:, 3, 2] = K3[:, 2, 3]
  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
  q = np.empty((len(rots), 4))
-  for i in xrange(len(rots)):
+  for i in range(len(rots)):
    _, eigvecs = linalg.eigh(K3[i].T)
    eigvecs = eigvecs[:,3:]
    q[i, 0] = eigvecs[-1]
@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
@@ -0,0 +1,92 @@
+This Font Software is licensed under the SIL Open Font License,
+Version 1.1.
+
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font
+creation efforts of academic and linguistic communities, and to
+provide a free and open framework in which fonts may be shared and
+improved in partnership with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply to
+any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software
+components as distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to,
+deleting, or substituting -- in part or in whole -- any of the
+components of the Original Version, by changing formats or by porting
+the Font Software to a new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed,
+modify, redistribute, and sell modified and unmodified copies of the
+Font Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components, in
+Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the
+corresponding Copyright Holder. This restriction only applies to the
+primary font name as presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created using
+the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
@@ -334,12 +334,6 @@
    <family>
        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
    </family>
-    <family lang="zh-Hans">
-        <font weight="400" style="normal">NotoSansSC-Regular.otf</font>
-    </family>
-    <family lang="zh-Hant">
-        <font weight="400" style="normal">NotoSansTC-Regular.otf</font>
-    </family>
    <family lang="ja">
        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
    </family>
@@ -352,8 +346,15 @@
    <family>
        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
    </family>
-    <family>
-        <font weight="400" style="normal">Miui-Regular.ttf</font>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
    </family>
    <family lang="ja">
        <font weight="400" style="normal">MTLmr3m.ttf</font>
@@ -1,48 +1,67 @@
 #!/usr/bin/bash

-# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
-lang=zh-TW
+###############################################################################
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+# Noto is a trademark of Google Inc. Noto fonts are open source.
+# All Noto fonts are published under the SIL Open Font License,
+# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
+#
+###############################################################################

-update_font_reg=0
-update_font_bold=0
+
+# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+lang=en
+
+update_font=0
 remove_old_font=0

 # check regular font
-if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
-    update_font_reg=1
+if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
+    update_font=1
 fi

-# check bold font
-if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
-    update_font_bold=1
-fi
-
-# check droidsans font
-if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
+# check miui font
+if ls /system/fonts/Miui*.ttf 1> /dev/null 2>&1; then
    remove_old_font=1
 fi

-if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
-    # sleep 3 secs in case, make sure the /system is remountable
+if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 3 secs in case, make sure the /system is re-mountable
    sleep 3
    mount -o remount,rw /system
-    if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
-        # download regular font
-        if [ $update_font_reg -eq "1" ]; then
-            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
-        fi
-        # download bold font
-        if [ $update_font_bold -eq "1" ]; then
-            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
-        fi
-        # dont new font mapping
-        yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+    if [ $update_font -eq "1" ]; then
+        # install font
+        cp -rf /data/openpilot/dragonpilot/chinese-fonts/NotoSansCJKtc-* /system/fonts/
+        # install font mapping
+        cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+        # change permissions
        chmod 644 /system/etc/fonts.xml
-        chmod 644 /system/fonts/Miui-*
+        chmod 644 /system/fonts/NotoSansCJKtc-*
    fi
-    # remove driodsans font
+    # remove miui font
    if [ $remove_old_font -eq "1" ]; then
-        rm -fr /system/fonts/DroidSansFallback*.ttf
+        rm -fr /system/fonts/Miui*.ttf
    fi
    mount -o remount,r /system
    # change system locale
@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip",
-  "ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img",
-  "recovery_len": 15136044,
-  "recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662"
+  "ota_url": "http://dpp.cool/neosupdate/ota-signed-7a0117425bc4a6673958d265312994e124654a566228f3cec2f0f9bc8120a9ab.zip",
+  "ota_hash": "7a0117425bc4a6673958d265312994e124654a566228f3cec2f0f9bc8120a9ab",
+  "recovery_url": "http://dpp.cool/neosupdate/recovery-3dc234d868c29a3739f6ca3bd47b1c2d3c570d9f478b6849a4fada129ee4af76.img",
+  "recovery_len": 15848748,
+  "recovery_hash": "3dc234d868c29a3739f6ca3bd47b1c2d3c570d9f478b6849a4fada129ee4af76"
 }
@@ -24,6 +24,8 @@ function launch {
 #
 #    exec "${BASH_SOURCE[0]}"
 #  fi
+  chmod 700 reset_update.sh
+  chmod 700 update_panda_firmware.sh

  # no cpu rationing for now
  echo 0-3 > /dev/cpuset/background/cpus
@@ -32,6 +34,24 @@ function launch {
  echo 0-3 > /dev/cpuset/foreground/cpus
  echo 0-3 > /dev/cpuset/android/cpus

+  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+  # Remove old NEOS update file
+  if [ -d /data/neoupdate ]; then
+    rm -rf /data/neoupdate
+  fi
+
+  # Check for NEOS update
+  if [ $(< /VERSION) != "12" ]; then
+    if [ -f "$DIR/scripts/continue.sh" ]; then
+      cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
+    fi
+
+    git clean -xdf
+    "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
+  fi
+
+
  # handle pythonpath
  ln -s /data/openpilot /data/pythonpath
  export PYTHONPATH="$PWD"
@@ -189,7 +189,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] ""  NEO

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
@@ -241,4 +241,3 @@ VAL_ 356 LKATorqueDeliveredStatus 7 "Override Fault" 6 "LKAS Fault but Responsiv
 VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
 VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
 VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
-
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import os
 import re

@@ -40,10 +40,10 @@ for dir_name, _, filenames in os.walk(cur_path):
    if dir_name == cur_path:
        continue

-    print dir_name
+    print(dir_name)
    for filename in filenames:
        if filename.startswith('_'):
            continue

-        print filename
+        print(filename)
        create_dbc(dir_name, filename)
@@ -123,7 +123,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
@@ -36,8 +36,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -57,8 +57,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -150,6 +150,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -174,6 +175,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -10,7 +10,7 @@ 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_EPS : 47|16@0- (1,0) [-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
@@ -34,4 +34,4 @@ 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";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
@@ -6,15 +6,19 @@ BO_ 550 BRAKE_MODULE: 8 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_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [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- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.77,0) [-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
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -20,7 +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
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -20,7 +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- (0.056,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -8,7 +8,7 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
 SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX

@@ -26,7 +26,7 @@ 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- (0.056,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -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- (0.0573,0) [-500|500] "" XXX 

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -195,7 +195,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
 BO_ 1034 ASCM_40A: 7 K124_ASCM

 BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
- SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C"  NEO
+ SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C"  NEO

 BO_ 1249 VIN_Part2: 8 K20_ECM
 SG_ VINPart2 : 7|64@0+ (1,0) [0|0] ""  NEO
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
@@ -177,14 +177,14 @@ BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" NEO
 SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

 BO_ 660 SCM_COMMANDS: 8 SCM
 SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" NEO
 SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" NEO
 SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" NEO
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

 BO_ 661 XXX_10: 4 XXX
 SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" XXX
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
@@ -127,7 +127,7 @@ BO_ 479 ACC_CONTROL: 8 EON
 SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
 SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
- SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
+ SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
 SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
 SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
@@ -893,11 +893,11 @@ 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] ""  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] ""  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] ""  CLU
 SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] ""  CLU

 BO_ 1345 CGW1: 8 BCM
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -357,7 +369,7 @@ 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_EPS : 47|16@0- (1,0) [-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
@@ -381,4 +393,4 @@ 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";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -365,7 +377,7 @@ 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- (0.056,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -361,7 +361,7 @@ 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- (0.056,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -0,0 +1,153 @@
+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_ 928 EPB_STATUS: 8 XXX
+ SG_ EPB_BRAKE : 16|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 1104 SEATBELT_STATUS: 8 XXX
+ SG_ DRIVER_SEAT_BELT_ONOFF : 21|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 1056 BODY_ECU_STATUS: 8 XXX
+ SG_ DOOR_RL_STATUS : 18|1@0+ (1,0) [0|255] "" XXX
+ SG_ DOOR_FL_STATUS : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_FR_STATUS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_RR_STATUS : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_BACK_DOOR_STATUS : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_SIGNAL_STATUS : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_SIGNAL_STATUS : 9|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 832 GEAR_RPM_SPEED_STATUS: 8 XXX
+ SG_ TRANS_MODE : 7|5@1+ (1,0) [0|0] "" XXX
+ SG_ TRANS_GEAR_POS : 2|3@0+ (1,0) [0|1] "" XXX
+ SG_ ENGINE_RPM1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ ENGINE_TEMP : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 821 THROTTLE_STATUS: 8 XXX
+ SG_ CRUSE_ONOFF : 2|1@0+ (1,0) [0|1] "on/off" XXX
+ SG_ CRUSE_ENABLED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ THROTTLE_PEDAL_POS : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ THROTTLE_POS : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ RPM : 48|8@1- (1,0) [0|65535] "" XXX
+
+BO_ 922 STEERING_ANGLE_STATUS: 8 XXX
+ SG_ STEER_ANGLE_9000 : 7|16@0- (1,0) [0|65535] "" XXX
+
+BO_ 906 WHEEL_SPEEDS: 8 XXX
+ SG_ SPEED_FR : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ ABS_UNDEF1 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ SPEED_FL : 0|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 848 ABS_WHEELS_STATUS: 8 XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1402 DASH_STATUS: 8 XXX
+ SG_ CAR_SPEED : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ DASH_INFO2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ DASH_INFO0 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ DASH_INFO_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ DASH_INFO_3 : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1306 _SPEEDX: 8 XXX
+ SG_ DASH_CAR_SPEED : 7|9@0+ (1,0) [0|255] "" XXX
+
+BO_ 1296 undefined: 8 XXX
+
+BO_ 790 ENGINE_DATA: 8 XXX
+ SG_ _X2 : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" 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
+
+BO_ 1313 undefined: 8 XXX
+
+BO_ 1312 __trigger_every_range: 8 XXX
+ SG_ __SIGNAL_every_interval : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 896 undefined: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 809 undefined: 8 XXX
+
+BO_ 864 BREAK_TCS_STATUS: 8 XXX
+ SG_ SPEED3 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ TCS_ON_FF : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ XXXX1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRSSED : 42|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 842 undefined: 8 XXX
+
+BO_ 880 WHEEL_RPM_STATUS: 8 XXX
+ SG_ WHEEL_RL_SPEED : 23|16@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_FR_SPEED : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_FL_SPEED : 55|16@0+ (1,0) [0|255] "" XXX
+ SG_ WHEEL_RR_SPEED : 7|16@0- (1,0) [0|255] "" XXX
+
+BO_ 1040 CONSOLE_STATUS: 8 XXX
+ SG_ LEFT_SIGNAL_SWITCH : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_SIGNAL_SWITCH : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEAD_LIGHT_HANDLE_SWITCH : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ HID_LIGHT_SWITCH : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ YELLOW_WARN_TEMP_TRIGGER : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ HID_LIGHT_HANDLE_SWITCH : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ MIX_MODE : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ slider_rain_bar : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ temp_slider_rain_bar : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ temp_water_push : 11|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1120 HAVC_STATUS: 8 XXX
+ SG_ HAVC_TEMP : 32|8@1+ (1,0) [0|255] "" XXX
+
+
+CM_ SG_ 1104 DRIVER_SEAT_BELT_ONOFF "0 - on , 1 = off";
+CM_ SG_ 1056 DOOR_RL_STATUS "04 - RL - open";
+CM_ SG_ 1056 DOOR_FL_STATUS "28 - FL open , 38 - FR";
+CM_ SG_ 1056 RIGHT_SIGNAL_STATUS "R,L shows at same time means hazard";
+CM_ SG_ 832 TRANS_MODE "AT - 85 / MT - 8D";
+CM_ SG_ 832 TRANS_GEAR_POS "R-7 , 0 - N";
+CM_ SG_ 821 CRUSE_ONOFF "Cruse Switch";
+CM_ SG_ 821 CRUSE_ENABLED "Cruse enabled";
+CM_ SG_ 821 THROTTLE_PEDAL_POS "Real Pedal Pos";
+CM_ SG_ 821 THROTTLE_POS "Throttle Pos for Cruse Mode";
+CM_ SG_ 906 ABS_UNDEF1 "ABS force";
+CM_ SG_ 906 SPEED_FL "used for car speed in dash board";
+CM_ SG_ 864 TCS_ON_FF "ON = 1, OFF =0";
@@ -1,73 +0,0 @@
-VERSION ""
-
-
-NS_ :
-    NS_DESC_
-    CM_
-    BA_DEF_
-    BA_
-    VAL_
-    CAT_DEF_
-    CAT_
-    FILTER
-    BA_DEF_DEF_
-    EV_DATA_
-    ENVVAR_DATA_
-    SGTYPE_
-    SGTYPE_VAL_
-    BA_DEF_SGTYPE_
-    BA_SGTYPE_
-    SIG_TYPE_REF_
-    VAL_TABLE_
-    SIG_GROUP_
-    SIG_VALTYPE_
-    SIGTYPE_VALTYPE_
-    BO_TX_BU_
-    BA_DEF_REL_
-    BA_REL_
-    BA_DEF_DEF_REL_
-    BU_SG_REL_
-    BU_EV_REL_
-    BU_BO_REL_
-    SG_MUL_VAL_
-
-BS_:
-
-BU_: XXX
-
-
-BO_ 884 DoorStatus: 8 XXX
- SG_ DoorOpenFD : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ DoorOpenFP : 25|1@0+ (1,0) [0|1] "" XXX
- SG_ DoorOpenRP : 26|1@0+ (1,0) [0|1] "" XXX
- SG_ DoorOpenRD : 27|1@0+ (1,0) [0|1] "" XXX
- SG_ DoorOpenHatch : 28|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 324 CruiseControl: 7 XXX
- SG_ BrakeApplied : 8|1@0+ (1,0) [0|0] "" XXX
- SG_ CruiseEnabled : 48|1@0+ (1,0) [0|0] "" XXX
- SG_ BrakeStatus : 51|1@0+ (1,0) [0|0] "" XXX
- SG_ CruiseButtons : 4|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 320 Throttle: 8 XXX
- SG_ ThrottlePosition : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 209 NEW_MSG_1: 8 XXX
- SG_ BrakePosition : 23|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 2 Steering: 8 XXX
- SG_ SteeringAngle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
-
-BO_ 642 NEW_MSG_2: 8 XXX
- SG_ TurnSignal : 45|2@0+ (1,0) [0|3] "" XXX
-
-
-
-CM_ "CHFFR_METRIC 2 STEER_ANGLE STEER_ANGLE 0.36 180";
-
-VAL_ 324 BrakeApplied 1 "On" 0 "Off" ;
-VAL_ 324 CruiseEnabled 1 "On" 0 "Off" ;
-VAL_ 324 BrakeStatus 1 "On" 0 "Off" ;
-VAL_ 324 CruiseButtons 2 "Set" 1 "Resume" ;
-
-VAL_ 642 TurnSignal 2 "Left" 1 "Right" ;
@@ -126,7 +126,7 @@ BO_ 896 ACN1S01: 8 CGW
 SG_ GNRTIH : 27|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ R_COL_TM : 26|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ R_HET_TM : 24|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TAMOUT : 55|8@0- (0.625,0) [0|0] "Ž" Vector__XXX
+ SG_ TAMOUT : 55|8@0- (0.625,0) [0|0] "" Vector__XXX

 BO_ 897 ACN1S04: 8 CGW
 SG_ R_ACCALL : 7|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -166,9 +166,9 @@ BO_ 897 ACN1S04: 8 CGW
 BO_ 944 ACN1S07: 6 CGW
 SG_ RDEF : 7|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ MHTR : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TR_TEMP : 15|8@0+ (0.25,-6.5) [0|0] "Ž" Vector__XXX
- SG_ ACN_AMB : 31|8@0+ (1,0) [0|0] "Ž" CSR,DS1,FCM
- SG_ AC_AMB05 : 44|1@0+ (1,0) [0|0] "Ž" Vector__XXX
+ SG_ TR_TEMP : 15|8@0+ (0.25,-6.5) [0|0] "" Vector__XXX
+ SG_ ACN_AMB : 31|8@0+ (1,0) [0|0] "" CSR,DS1,FCM
+ SG_ AC_AMB05 : 44|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ AC_MODE : 43|2@0+ (1,0) [0|0] "" Vector__XXX

 BO_ 1250 AFS1N01: 8 AFS
@@ -851,7 +851,7 @@ BO_ 956 ECT1S92: 8 CGW
 SG_ B_R : 12|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV
 SG_ B_N : 11|1@0+ (1,0) [0|0] "" AFS,CSR,MAV
 SG_ B_ISPTM : 10|3@0+ (1,0) [0|0] "" Vector__XXX
- SG_ BV_THOCL : 23|16@0+ (0.625,-50) [0|0] "Ž" Vector__XXX
+ SG_ BV_THOCL : 23|16@0+ (0.625,-50) [0|0] "" Vector__XXX
 SG_ B_GEAR : 39|4@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_SMDE : 32|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_D : 47|1@0+ (1,0) [0|0] "" AFS,CSR,DS1,MAV
@@ -988,7 +988,7 @@ BO_ 1017 ENG1F03: 8 CGW

 BO_ 452 ENG1F07: 8 CGW
 SG_ NE1 : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
- SG_ THA1 : 23|8@0+ (2.5,-40) [0|0] "Ž" Vector__XXX
+ SG_ THA1 : 23|8@0+ (2.5,-40) [0|0] "" Vector__XXX
 SG_ THWX : 31|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ EGF : 30|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ T2ERXF : 29|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -1026,7 +1026,7 @@ BO_ 705 ENG1S01: 8 CGW

 BO_ 961 ENG1S23: 3 CGW
 SG_ EKLSM : 7|8@0+ (0.625,0) [0|0] "%" Vector__XXX
- SG_ GATHW : 15|16@0- (0.625,0) [0|0] "Ž" Vector__XXX
+ SG_ GATHW : 15|16@0- (0.625,0) [0|0] "" Vector__XXX

 BO_ 979 ENG1S28: 2 CGW
 SG_ B_FC : 7|16@0+ (0.0005,0) [0|0] "ml" Vector__XXX
@@ -1067,7 +1067,7 @@ BO_ 955 ENG1S92: 8 CGW
 SG_ B_WSTP : 11|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_LOUT : 10|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_OILPL : 9|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_TMP : 23|8@0+ (0.5,0) [0|0] "Ž" Vector__XXX
+ SG_ B_TMP : 23|8@0+ (0.5,0) [0|0] "" Vector__XXX
 SG_ OGENETCS : 30|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ B_DPFW : 28|3@0+ (1,0) [0|0] "" Vector__XXX
 SG_ BOSLAMP : 37|3@0+ (1,0) [0|0] "" Vector__XXX
@@ -1082,8 +1082,8 @@ BO_ 921 ENG1S95: 8 CGW
 SG_ B_SPU2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACASID1 : 3|4@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACASID2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_LSP2 : 31|8@0+ (1,0) [0|0] "km/hEmph" Vector__XXX
- SG_ B_ASLSP2 : 39|8@0+ (1,0) [0|0] "km/hEmph" Vector__XXX
+ SG_ B_LSP2 : 31|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX
+ SG_ B_ASLSP2 : 39|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX
 SG_ CACCTRN : 47|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ CACCINF : 46|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ CACCFR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -1096,7 +1096,7 @@ BO_ 921 ENG1S95: 8 CGW
 BO_ 238 ENG2F01: 4 CGW
 SG_ STOFOK : 7|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ GROWIND : 6|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ B_TMP3 : 15|8@0+ (0.5,0) [0|0] "Ž" Vector__XXX
+ SG_ B_TMP3 : 15|8@0+ (0.5,0) [0|0] "" Vector__XXX
 SG_ IMMINJST : 23|16@0+ (1,0) [0|0] "" Vector__XXX

 BO_ 466 ENG2F04: 8 CGW
@@ -1113,7 +1113,7 @@ BO_ 466 ENG2F04: 8 CGW
 SG_ PLOCKF : 8|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCREQ : 23|16@0- (0.0009765625,0) [0|0] "m/s^2" DS1
 SG_ ACCAVL : 39|16@0- (2,0) [0|0] "N" Vector__XXX
- SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "|" DS1
+ SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "" DS1
 SG_ SSTOK : 51|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ CANREQ : 49|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ FCACT : 48|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -1280,7 +1280,7 @@ BO_ 1076102682 MET1S05_24: 8 CGW
 SG_ MET05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
 SG_ TO_SP : 23|16@0+ (0.1,0) [0|0] "km/h,MPH" Vector__XXX
 SG_ UNIT_5 : 39|2@0+ (1,0) [0|0] "" Vector__XXX
- SG_ TO_FC : 47|16@0+ (0.1,0) [0|0] "MPGEkm/lEl/100kmEkm/gallon" Vector__XXX
+ SG_ TO_FC : 47|16@0+ (0.1,0) [0|0] "MPG Ekm/l El/100km Ekm/gallon" Vector__XXX
 SG_ UNIT_6 : 63|3@0+ (1,0) [0|0] "" Vector__XXX

 BO_ 1076299282 MET1S08_27: 8 CGW
@@ -1635,4 +1635,4 @@ BO_ 1073743494 YGW1S05_0: 8 CGW
 SG_ YGW05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX
 SG_ YI_IMO_E : 23|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ YI_UREQ : 16|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -367,7 +379,7 @@ 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
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -367,7 +379,7 @@ 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- (0.056,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -355,7 +367,7 @@ BO_ 401 STEERING_LTA: 8 XXX
 SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
 SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
- SG_ STEER_ANGLE_CMD : 15|16@0- (0.056,0) [-540|540] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
 SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX

@@ -373,7 +385,7 @@ 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- (0.056,0) [-500|500] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -367,6 +379,7 @@ 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- (0.0573,0) [-500|500] "" XXX 

 BO_ 610 EPS_STATUS: 8 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -70,8 +70,8 @@ BS_:
 BU_: XXX DSU HCU EPS IPAS CGW

 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_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
 SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX

 BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
@@ -91,8 +91,8 @@ BO_ 170 WHEEL_SPEEDS: 8 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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
@@ -184,6 +184,7 @@ BO_ 921 PCM_CRUISE_SM: 8 XXX

 BO_ 951 ESP_CONTROL: 8 ESP
 SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX

 BO_ 1041 ACC_HUD: 8 DSU
@@ -208,6 +209,17 @@ BO_ 1042 LKAS_HUD: 8 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_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
 BO_ 1408 VIN_PART_1: 8 CGW
 SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
 SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
@@ -1,7 +1,7 @@
 VERSION ""


-NS_ : 
+NS_ :
 	NS_DESC_
 	CM_
 	BA_DEF_
@@ -187,10 +187,10 @@ BO_ 1298 PSG_2: 8 XXX
 SG_ RAM_Inhalt_1 : 0|16@1+ (1,0) [0|0] "" XXX

 BO_ 274 PSG_1: 8 XXX
- SG_ Pumpentemperatur__2_1_ : 48|16@1+ (0.0625,0) [0|4096] "°K" XXX
+ SG_ Pumpentemperatur__2_1_ : 48|16@1+ (0.0625,0) [0|4096] "K" XXX
 SG_ Pumpentemperatur__3_2_2_ : 44|12@1+ (1,0) [0|0] "" XXX
- SG_ Zylinderzaehler__3_2_2_ : 43|3@1+ (1,0) [1|8] "Zähler" XXX
- SG_ Ansteuerdauer__3_2_2_ : 32|11@1+ (0.0469,0) [0|96] "°NW" XXX
+ SG_ Zylinderzaehler__3_2_2_ : 43|3@1+ (1,0) [1|8] "Zaehler" XXX
+ SG_ Ansteuerdauer__3_2_2_ : 32|11@1+ (0.0469,0) [0|96] "NW" XXX
 SG_ Nockenwellendrehzahl__3_2_2_ : 20|12@1+ (4,0) [0|16380] "upm" XXX
 SG_ Pumpen_Statuswort__3_2_2_ : 0|20@1+ (1,0) [0|0] "" XXX

@@ -233,7 +233,7 @@ BO_ 1424 Niveau_1: 6 XXX
 SG_ ESP_Beeinflussung : 14|1@1+ (1,0) [0|0] "" XXX
 SG_ Warnlampe_Niveau_1 : 13|1@1+ (1,0) [0|0] "" XXX
 SG_ Frei_Niveau_1_1 : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Niveau_1 : 8|4@1+ (1,0) [0|15] "Zähler" XXX
+ SG_ Zaehler_Niveau_1 : 8|4@1+ (1,0) [0|15] "Zaehler" XXX
 SG_ Checksumme_Niveau_1 : 0|8@1+ (1,0) [0|0] "" XXX

 BO_ 1328 Navigation_1: 7 XXX
@@ -248,11 +248,11 @@ BO_ 1328 Navigation_1: 7 XXX
 SG_ Laenderkennung : 16|8@1+ (1,0) [0|0] "" XXX
 SG_ Vorzeichen_Gierrate______ : 15|1@1+ (1,0) [0|0] "" XXX
 SG_ Gierratenfehler : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ Gierrate : 0|14@1+ (0.01,0) [0|100] "°/sek" XXX
+ SG_ Gierrate : 0|14@1+ (0.01,0) [0|100] "deg/sek" XXX

 BO_ 1792 MSG_3: 3 XXX
 SG_ MSG_Konfiguration : 16|8@1+ (1,0) [0|0] "" XXX
- SG_ Lage_des_OT_Impuls : 0|16@1+ (0.01172,-384) [-384|384] "°KW" XXX
+ SG_ Lage_des_OT_Impuls : 0|16@1+ (0.01172,-384) [-384|384] "KW" XXX

 BO_ 1280 MSG_2: 8 XXX
 SG_ RAM_Adresse_4 : 48|16@1+ (1,0) [0|0] "" XXX
@@ -262,8 +262,8 @@ BO_ 1280 MSG_2: 8 XXX

 BO_ 256 MSG_1: 8 XXX
 SG_ Kurbelwellendrehzahl__3_2_2_ : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Soll_Foerderbeginn_KW__3_2_2_ : 40|16@1+ (0.01172,-384) [-384|384] "°KW" XXX
- SG_ Soll_Foerderbeginn_NW__3_2_2_ : 28|12@1+ (0.01172,0) [0|768] "°NW" XXX
+ SG_ Soll_Foerderbeginn_KW__3_2_2_ : 40|16@1+ (0.01172,-384) [-384|384] "KW" XXX
+ SG_ Soll_Foerderbeginn_NW__3_2_2_ : 28|12@1+ (0.01172,0) [0|768] "degNW" XXX
 SG_ Soll_Voreinspritzung : 16|12@1+ (1,0) [0|0] "" XXX
 SG_ Soll_Einspritzmenge : 0|16@1+ (0.03125,0) [0|2047] "mg/H" XXX

@@ -273,7 +273,7 @@ BO_ 1796 Motor_NOX: 8 XXX
 SG_ Heizleistungsanforderung : 18|1@1+ (1,0) [0|0] "" XXX
 SG_ Offsetkorrektur_moeglich : 17|1@1+ (1,0) [0|0] "" XXX
 SG_ Betriebsbereich : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Abgastemperatur_NOX : 8|8@1+ (5,-40) [-40|1230] "°C" XXX
+ SG_ Abgastemperatur_NOX : 8|8@1+ (5,-40) [-40|1230] "C" XXX
 SG_ Abgasdruck_NOX : 0|8@1+ (5,600) [600|1870] "mbar" XXX

 BO_ 900 Motor_Momente: 8 XXX
@@ -361,7 +361,7 @@ BO_ 896 Motor_3: 8 XXX
 SG_ Vorzeichen_Rad_Wunschmoment : 36|1@1+ (1,0) [0|0] "" XXX
 SG_ Rad_Wunschmoment : 24|12@1+ (0.39,0) [0|1597] "MDI" XXX
 SG_ Fahrpedal_Rohsignal : 16|8@1+ (0.4,0) [0|101.6] "%" XXX
- SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "°" XXX
+ SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
 SG_ Fehlerstatus_Ansauglufttemperat : 7|1@1+ (1,0) [0|0] "" XXX
 SG_ Motorsteuerger_t_gesperrt : 6|1@1+ (1,0) [0|0] "" XXX
 SG_ Drosselklappenwinkel_ungenau : 5|1@1+ (1,0) [0|0] "" XXX
@@ -384,7 +384,7 @@ BO_ 648 Motor_2: 8 XXX
 SG_ Fehlerstatus_Kuhlmitteltempera : 18|1@1+ (1,0) [0|0] "" XXX
 SG_ Bremstestschalter : 17|1@1+ (1,0) [0|0] "" XXX
 SG_ Bremslichtschalter : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "°" XXX
+ SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
 SG_ Multiplex_Code_Motor_2 M : 6|2@1+ (1,0) [0|0] "" XXX
 SG_ Multiplex_Info_Motorcode__4_x_ m1 : 0|6@1+ (1,0) [0|0] "" XXX
 SG_ Multiplex_Info_Getriebecode m2 : 0|6@1+ (1,0) [0|0] "" XXX
@@ -409,7 +409,7 @@ BO_ 640 Motor_1: 8 XXX

 BO_ 262 Master_3: 8 XXX
 SG_ Frei_Master_3_1 : 56|8@1+ (1,0) [0|0] "" XXX
- SG_ Motortemperatur_linearisiert : 48|8@1+ (0.75,-48) [-48|143.25] "°" XXX
+ SG_ Motortemperatur_linearisiert : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX
 SG_ Indiziertes_Sollmoment_f_r_Vmax : 32|16@1+ (0.0015259,0) [0|100] "%" XXX
 SG_ Relative_Momentenanforderung_de : 16|16@1+ (0.003052,0) [0|200] "%" XXX
 SG_ Delta_Motormoment_aus_Verlustmo : 0|16@1+ (0.003052,-100) [-100|100] "%" XXX
@@ -448,7 +448,7 @@ BO_ 1986 Lenkwinkel_Init: 4 XXX

 BO_ 192 Lenkwinkel_1__RB_: 2 XXX
 SG_ Vorzeichen__RB_ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel__RB_ : 5|10@1+ (2.5,-720) [-720|720] "°" XXX
+ SG_ Lenkwinkel__RB_ : 5|10@1+ (2.5,-720) [-720|720] "" XXX
 SG_ LWS_OK__RB_ : 4|1@1+ (1,0) [0|0] "" XXX
 SG_ LWS_Abgleich__RB_ : 3|1@1+ (1,0) [0|0] "" XXX
 SG_ Frei_Lenkwinkel_1_1__RB_ : 2|1@1+ (1,0) [0|0] "" XXX
@@ -457,7 +457,7 @@ BO_ 192 Lenkwinkel_1__RB_: 2 XXX

 BO_ 196 Lenkwinkel_1__ITT_: 2 XXX
 SG_ Vorzeichen__ITT_ : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ Lenkwinkel__ITT_ : 5|10@1+ (1.5,-768) [-768|766.5] "°" XXX
+ SG_ Lenkwinkel__ITT_ : 5|10@1+ (1.5,-768) [-768|766.5] "" XXX
 SG_ LWS_OK : 4|1@1+ (1,0) [0|0] "" XXX
 SG_ LWS_Abgleich__ITT_ : 3|1@1+ (1,0) [0|0] "" XXX
 SG_ LWS_Initialisierung__ITT_ : 2|1@1+ (1,0) [0|0] "" XXX
@@ -558,10 +558,10 @@ BO_ 1056 Kombi_2: 8 XXX
 SG_ Klemme_58s__Kombi_2_ : 48|7@1+ (1,0) [0|100] "%" XXX
 SG_ Fehlerstatus_Kl__58_d : 47|1@1+ (1,0) [0|0] "" XXX
 SG_ Klemme_58d__Kombi_2_ : 40|7@1+ (1,0) [0|100] "%" XXX
- SG_ Kuehlmitteltemp__4_1__Kombi_2_ : 32|8@1+ (0.75,-48) [-48|142.5] "°C" XXX
- SG_ Oeltemperatur_4_1 : 24|8@1+ (1,-60) [-60|194] "°C" XXX
- SG_ Aussentemp__ungefiltert_4_1__Ko : 16|8@1+ (0.5,-50) [-50|77] "°C" XXX
- SG_ Aussentemperatur_gefiltert : 8|8@1+ (0.5,-50) [-50|77] "°C" XXX
+ SG_ Kuehlmitteltemp__4_1__Kombi_2_ : 32|8@1+ (0.75,-48) [-48|142.5] "C" XXX
+ SG_ Oeltemperatur_4_1 : 24|8@1+ (1,-60) [-60|194] "C" XXX
+ SG_ Aussentemp__ungefiltert_4_1__Ko : 16|8@1+ (0.5,-50) [-50|77] "C" XXX
+ SG_ Aussentemperatur_gefiltert : 8|8@1+ (0.5,-50) [-50|77] "C" XXX
 SG_ Fehlerspeichereintrag__Kombi_ : 7|1@1+ (1,0) [0|0] "" XXX
 SG_ Frei_Kombi_2_1 : 4|3@1+ (1,0) [0|0] "" XXX
 SG_ Anhaenger_erkannt : 3|1@1+ (1,0) [0|0] "" XXX
@@ -596,7 +596,7 @@ BO_ 800 Kombi_1: 8 XXX
 SG_ Fahrertuer_4_1 : 0|1@1+ (1,0) [0|0] "" XXX

 BO_ 1504 Klima_1: 8 XXX
- SG_ Aussentemp__ungef__Sto_f__4_1 : 56|8@1+ (0.5,-50) [-50|77] "°C" XXX
+ SG_ Aussentemp__ungef__Sto_f__4_1 : 56|8@1+ (0.5,-50) [-50|77] "C" XXX
 SG_ Fehlerspeichereintrag__Klima_ : 55|1@1+ (1,0) [0|0] "" XXX
 SG_ Frei_Klima_1_5 : 50|5@1+ (1,0) [0|0] "" XXX
 SG_ AC_Schalter : 49|1@1+ (1,0) [0|0] "" XXX
@@ -605,7 +605,7 @@ BO_ 1504 Klima_1: 8 XXX
 SG_ Geblaeselast_4_1 : 32|8@1+ (0.4,0) [0|101.6] "%" XXX
 SG_ Kompressorlast : 24|8@1+ (0.25,0) [0|63.5] "Nm" XXX
 SG_ Klimadrucksignal__Klima_1_ : 16|8@1+ (0.2,0) [0|50.8] "bar" XXX
- SG_ Aussentemp__ungef__4_1__Klima_1 : 8|8@1+ (0.5,-50) [-50|77] "°C" XXX
+ SG_ Aussentemp__ungef__4_1__Klima_1 : 8|8@1+ (0.5,-50) [-50|77] "C" XXX
 SG_ Kaeltemitteldruck_veraltet : 7|1@1+ (1,0) [0|0] "" XXX
 SG_ Kompressormoment_veraltet_4_1 : 6|1@1+ (1,0) [0|0] "" XXX
 SG_ Keine_Heizleistg_gewuenscht_4_1 : 5|1@1+ (1,0) [0|0] "" XXX
@@ -836,9 +836,9 @@ BO_ 1192 Bremse_5: 8 XXX
 SG_ Checksumme_Bremse_5 : 56|8@1+ (1,0) [0|0] "" XXX
 SG_ Zaehler_Bremse_5 : 52|4@1+ (1,0) [0|15] "" XXX
 SG_ Bremslicht_ECD : 51|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "°C" XXX
+ SG_ Bremsentemperatur_vorn : 48|3@1+ (125,125) [125|1000] "C" XXX
 SG_ Frei_Bremse_5_5 : 40|8@1+ (1,0) [0|0] "" XXX
- SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "°/s" XXX
+ SG_ Offset_Gierrate : 32|8@1+ (0.05,-6.375) [-6.375|6.375] "deg/s" XXX
 SG_ Vorzeichen_Bremsdruck : 31|1@1+ (1,0) [0|0] "" XXX
 SG_ Status_Bremsdruck_durch_ESP_Sys : 30|1@1+ (1,0) [0|0] "" XXX
 SG_ Bremsdruck_ungueltig : 29|1@1+ (1,0) [0|0] "" XXX
@@ -1039,3 +1039,12 @@ BO_ 1324 ADR_1: 8 XXX
 SG_ Fehler_ADR_1 : 12|1@1+ (1,0) [0|0] "" XXX
 SG_ Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX
+
+BO_ 210 PQ_HCA: 8 XXX
+ SG_ HCA_Torque : 16|15@1+ (1,0) [0|32767] "" XXX
+ SG_ UNK_Bit : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ HCA_Torque_VZ : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ PQ_HCA_BZ : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ PQ_HCA_Checksum : 0|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 1490 VIN_1: 8 XXX
@@ -37,8 +37,8 @@ BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_H


 BO_ 290 ACC_06: 8 Gateway_MQB
- SG_ ACC_06_CRC : 0|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
- SG_ ACC_06_BZ : 8|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ ACC_limitierte_Anfahrdyn : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ ACC_zul_Regelabw_unten : 16|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ ACC_StartStopp_Info : 22|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Otto_MQB
@@ -53,8 +53,8 @@ BO_ 290 ACC_06: 8 Gateway_MQB
 SG_ ACC_Minimale_Bremsung : 63|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

 BO_ 279 ACC_10: 8 Gateway_MQB
- SG_ ACC_10_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB
- SG_ ACC_10_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB
 SG_ AWV1_Anf_Prefill : 16|1@1+ (1,0) [0|1] "" Airbag_MQB
 SG_ ANB_CM_Info : 17|1@1+ (1,0) [0|1] "" Vector__XXX
 SG_ AWV2_Freigabe : 18|1@1+ (1,0) [0|1] "" Airbag_MQB
@@ -281,8 +281,8 @@ BO_ 257 ESP_02: 8 Gateway_MQB
 SG_ ESP_Status_ESP_PLA : 60|4@1+ (1,0) [0|15] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB

 BO_ 262 ESP_05: 8 Gateway_MQB
- SG_ ESP_05_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
- SG_ ESP_05_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ ESP_QBit_Bremsdruck : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ ESP_QBit_Fahrer_bremst : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ ESP_Schwelle_Unterdruck : 14|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
@@ -360,8 +360,8 @@ BO_ 178 ESP_19: 8 Gateway_MQB
 SG_ ESP_VR_Radgeschw_02 : 48|16@1+ (0.0075,0) [0|491.49] "Unit_KiloMeterPerHour" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

 BO_ 1629 ESP_20: 8 Gateway_MQB
- SG_ ESP_20_CRC : 0|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ ESP_20_BZ : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
 SG_ BR_Systemart : 12|2@1+ (1,0) [0|3] "" Vector__XXX
 SG_ ESP_Zaehnezahl : 16|8@1+ (1,0) [0|255] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ ESP_Charisma_FahrPr : 24|4@1+ (1,0) [0|15] "" Vector__XXX
@@ -370,8 +370,8 @@ BO_ 1629 ESP_20: 8 Gateway_MQB
 SG_ BR_Reifenumfang : 52|12@1+ (1,0) [0|4095] "Unit_MilliMeter" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB

 BO_ 253 ESP_21: 8 Gateway_MQB
- SG_ ESP_21_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
- SG_ ESP_21_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ BR_Eingriffsmoment : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ ESP_v_Signal : 32|16@1+ (0.01,0) [0|655.32] "Unit_KiloMeterPerHour" Airbag_MQB,BMS_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,LEH_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB,SAK_MQB
 SG_ ASR_Tastung_passiv : 48|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
@@ -451,8 +451,8 @@ BO_ 296 Getriebe_06: 3 Getriebe_DQ_Hybrid_MQB
 SG_ GE_Testparameter_2 : 16|8@1+ (1,0) [0|255] "" Waehlhebel_MQB

 BO_ 173 Getriebe_11: 8 Getriebe_DQ_Hybrid_MQB
- SG_ Getriebe_11_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
- SG_ Getriebe_11_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ COUNTERXX : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ GE_MMom_Soll_02 : 12|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ GE_MMom_Vorhalt_02 : 22|10@1+ (1,-509) [-509|509] "Unit_NewtoMeter" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ GE_Uefkt : 32|10@1+ (0.1,0) [0|102.2] "" Gateway_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
@@ -520,8 +520,8 @@ BO_ 158 Getriebe_Hybrid_01: 8 Getriebe_DQ_Hybrid_MQB
 SG_ GE_HYB_VM_Startkontr : 63|1@1+ (1,0) [0|1] "" Motor_Hybrid_MQB

 BO_ 299 GRA_ACC_01: 8 Gateway_MQB
- SG_ GRA_ACC_01_CRC : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
- SG_ GRA_ACC_01_BZ : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ GRA_Hauptschalter : 12|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ GRA_Abbrechen : 13|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ GRA_Typ_Hauptschalter : 14|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
@@ -535,10 +535,11 @@ BO_ 299 GRA_ACC_01: 8 Gateway_MQB
 SG_ GRA_Fehler : 24|1@1+ (1,0) [0|1] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ GRA_Typ468 : 25|2@1+ (1,0) [0|3] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ GRA_Tip_Stufe_2 : 27|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ GRA_ButtonTypeInfo : 28|2@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

 BO_ 960 Klemmen_Status_01: 4 Gateway_MQB
- SG_ Klemmen_Status_01_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
- SG_ Klemmen_Status_01_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ ZAS_Kl_S : 16|1@1+ (1,0) [0|1] "" Vector__XXX
 SG_ ZAS_Kl_15 : 17|1@1+ (1,0) [0|1] "" Airbag_MQB,BMS_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ ZAS_Kl_X : 18|1@1+ (1,0) [0|1] "" Vector__XXX
@@ -683,16 +684,16 @@ BO_ 982 Licht_hinten_01: 8 Gateway_MQB
 SG_ LH_Bremsl_re_ges_def : 55|1@1+ (1,0) [0|1] "" Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

 BO_ 134 LWI_01: 8 Gateway_MQB
- SG_ LWI_01_CRC : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
- SG_ LWI_01_BZ : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ LWI_Sensorstatus : 12|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ LWI_QBit_Sub_Daten : 13|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ LWI_QBit_Lenkradwinkel : 15|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ LWI_Lenkradwinkel : 16|13@1+ (0.1,0) [0|800] "Unit_DegreOfArc" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
+ SG_ LWI_VZ_Lenkradwinkel : 29|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
 SG_ LWI_VZ_Lenkradw_Geschw : 30|1@1+ (1,0) [0|1] "" Vector__XXX
 SG_ LWI_Lenkradw_Geschw : 31|9@1+ (5,0) [0|2500] "Unit_DegreOfArcPerSecon" Vector__XXX
 SG_ LWI_Sub_Daten : 40|16@1+ (1,0) [0|65535] "" Vector__XXX
- SG_ LWI_Lenkradwinkel : 16|13@1+ (0.1,0) [0|800] "Unit_DegreOfArc" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
- SG_ LWI_QBit_Lenkradwinkel : 15|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB
- SG_ LWI_VZ_Lenkradwinkel : 29|1@1+ (1,0) [0|1] "" Airbag_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB,Motor_Diesel_MQB,Motor_Hybrid_MQB,Motor_Otto_MQB

 BO_ 263 Motor_04: 8 Motor_Diesel_MQB
 SG_ MO_Istgang : 8|4@1+ (1,0) [0|15] "" Gateway_MQB
@@ -1126,6 +1127,28 @@ BO_ 798 TSK_07: 8 Motor_Diesel_MQB
 SG_ TSK_Status_Anzeige : 61|3@1+ (1,0) [0|7] "" Gateway_MQB

 BO_ 1716 VIN_01: 8 Gateway_MQB
+ SG_ VIN_01_MUX M : 0|2@1+ (1,0) [0|3] ""  Airbag_MQB
+ SG_ KS_Geheimnis_1 m0 : 8|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ VIN_4 m1 : 8|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_11 m2 : 8|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ KS_Geheimnis_2 m0 : 16|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ VIN_5 m1 : 16|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_12 m2 : 16|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ KS_Geheimnis_3 m0 : 24|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ VIN_6 m1 : 24|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_13 m2 : 24|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ KS_Geheimnis_4 m0 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
+ SG_ VIN_7 m1 : 32|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_14 m2 : 32|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_1 m0 : 40|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_8 m1 : 40|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_15 m2 : 40|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_2 m0 : 48|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_9 m1 : 48|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_16 m2 : 48|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_3 m0 : 56|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_10 m1 : 56|8@1+ (1,0) [0|255] ""  Airbag_MQB
+ SG_ VIN_17 m2 : 56|8@1+ (1,0) [0|255] ""  Airbag_MQB

 BO_ 175 Waehlhebel_03: 4 Waehlhebel_MQB
 SG_ WH_Status_Sperre : 0|3@1+ (1,0) [0|7] "" Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
@@ -1157,30 +1180,30 @@ BO_ 1602 WIV_01: 8 Motor_Diesel_MQB
 SG_ WIV_W_max : 56|7@1+ (1000,0) [0|127000] "Unit_KiloMeter" Gateway_MQB

 BO_ 294 HCA_01: 8 XXX
- SG_ 3 : 15|4@0+ (1,0) [0|15] "" XXX
- SG_ 7 : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ 254 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ HCA_01_CRC : 7|8@0+ (1,0) [0|255] "" XXX
- SG_ HCA_01_BZ : 11|4@0+ (1,0) [0|255] "" XXX
- SG_ Assist_Requested : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_0X3 : 12|4@1+ (1,0) [0|15] "" XXX
 SG_ Assist_Torque : 16|14@1+ (1,0) [0|300] "Nm" XXX
- SG_ Assist_VZ : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ Assist_Requested : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ Assist_VZ : 31|1@1+ (1,0) [0|1] "" XXX
 SG_ HCA_Available : 32|1@1+ (1,0) [0|1] "" XXX
- SG_ HCA_Standby : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ HCA_Active : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_0XFE : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_0X07 : 48|8@1+ (1,0) [0|255] "" XXX

 BO_ 159 EPS_01: 8 XXX
- SG_ EPS_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ EPS_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Steering_Wheel_Angle : 16|13@1+ (0.075,0) [0|16383] "Unit_DegreOfArc" XXX
- SG_ Steering_Wheel_Angle_VZ : 31|1@0+ (1,0) [0|1] "" XXX
- SG_ HCA_Active : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ HCA_Standby : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ Unknown_Status2 : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steering_Wheel_Angle : 16|13@1+ (0.15,0) [0|16383] "Unit_DegreOfArc" XXX
+ SG_ Steering_Wheel_Angle_VZ : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ Unknown_Status2 : 63|1@1+ (1,0) [0|1] "" XXX
 SG_ HCA_Ready : 32|1@1+ (1,0) [0|3] "" XXX
 SG_ Driver_Strain : 40|13@1+ (1,0) [0|255] "Nm" XXX
 SG_ Driver_Strain_VZ : 55|1@1+ (1,0) [0|1] "" XXX
- SG_ Unknown_Status1 : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ Unknown_Status1 : 62|1@1+ (1,0) [0|1] "" XXX

 BO_ 286 VehicleSpeed: 8 XXX
 SG_ VehicleSpeed_CRC : 0|8@1+ (1,0) [0|255] "" XXX
@@ -1190,16 +1213,20 @@ BO_ 286 VehicleSpeed: 8 XXX
 BO_ 919 LDW_02: 8 XXX
 SG_ LDW_DLC : 40|8@1+ (0.01,0) [0|255] "m" XXX
 SG_ LDW_TLC : 48|5@1+ (0.05,0) [0|255] "Seconds" XXX
- SG_ LDW_Unknown : 15|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDW_Unknown : 14|2@1+ (1,0) [0|3] "" XXX
 SG_ Alert_Message : 16|4@1+ (1,0) [0|15] "" XXX
- SG_ LDW_Direction : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDW_Direction : 20|1@1+ (1,0) [0|1] "" XXX
 SG_ Right_Lane_Status : 36|2@1+ (1,0) [0|3] "" XXX
 SG_ Left_Lane_Status : 38|2@1+ (1,0) [0|3] "" XXX
- SG_ Kombi_Lamp_Orange : 61|1@0+ (1,0) [0|1] "" XXX
- SG_ Kombi_Lamp_Green : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ Kombi_Lamp_Orange : 61|1@1+ (1,0) [0|1] "" XXX
+ SG_ Kombi_Lamp_Green : 62|1@1+ (1,0) [0|1] "" XXX

 BO_ 780 ACC_02: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ SetSpeed : 12|10@1+ (0.08865,0) [0|90.68] "Unit_MeterPerSecond" XXX
 SG_ Kollision1 : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ Abstand : 24|10@1+ (0.1,0) [0|102.3] "m" XXX
 SG_ ACC_MinusInv : 36|2@1+ (1,0) [0|3] "" XXX
 SG_ ACC_Minus : 38|2@1+ (1,0) [0|3] "" XXX
 SG_ Kollision2 : 40|1@1+ (1,0) [0|1] "" XXX
@@ -1212,10 +1239,6 @@ BO_ 780 ACC_02: 8 XXX
 SG_ MotorbitB5_7 : 47|1@1+ (1,0) [0|1] "" XXX
 SG_ SetAbstand : 48|4@1+ (1,0) [0|15] "" XXX
 SG_ Hebel : 56|4@1+ (1,0) [0|15] "" XXX
- SG_ SetSpeed : 12|10@1+ (0.32,0) [0|320] "kmh" XXX
- SG_ Abstand : 24|10@1+ (0.1,0) [0|102.3] "m" XXX
- SG_ ACC_02_CRC : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ ACC_02_BZ : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 302 ACC_07: 8 XXX
 SG_ ACC_07_BZ : 8|4@1+ (1,0) [0|15] "" XXX
@@ -1251,9 +1274,47 @@ BO_ 427 ESP_33: 8 XXX
 SG_ ESP_33_BZ : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ ESP_33_CRC : 0|8@1+ (1,0) [0|255] "" XXX

+BO_ 418 ESP_15: 8 XXX
+ SG_ ESP_15_CRC : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ ESP_15_BZ : 8|4@1+ (1,0) [0|15] "" XXX

+BO_ 1122 PSD_04: 8 XXX
+ SG_ PSD_Object_Index : 0|6@1+ (1,0) [0|63] "" XXX

+BO_ 1123 PSD_05: 8 XXX
+ SG_ PSD_Current_Route_Index : 0|6@1+ (1,0) [0|63] "" XXX
+ SG_ Route_Distance_Remaining : 8|5@1+ (1,0) [0|31] "" XXX

+BO_ 1124 PSD_06: 8 XXX
+
+BO_ 988 Gateway_73: 8 XXX
+
+BO_ 792 Kamera_Status: 8 XXX
+
+BO_ 981 Licht_Anf_01: 8 XXX
+
+BO_ 1440 RLS_01: 8 XXX
+
+BO_ 870 Blinkmodi_02: 8 XXX
+
+BO_ 1385 HVEM_04: 8 XXX
+
+BO_ 1605 FLA_01: 8 XXX
+
+BO_ 1624 Licht_vorne_01: 8 XXX
+
+BO_ 1646 Klima_03: 8 XXX
+
+BO_ 1720 Kombi_03: 8 XXX
+
+BO_ 391 EV_Gearshift: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ GearPosition : 16|4@1+ (1,0) [0|255] "" XXX
+ SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX
+
+CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
+CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included";
 CM_ SG_ 294 3 "May be zero when sent by older cameras";
 CM_ SG_ 294 7 "May be zero when sent by older cameras";
 CM_ SG_ 294 254 "May be zero when sent by older cameras";
@@ -1263,6 +1324,7 @@ CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
 CM_ SG_ 159 HCA_Ready "1 if HCA is okay, 0 if the rack doesn't have HCA configured or a timer/constraint has been violated, rack will not respond to HCA commands";
 CM_ SG_ 159 Driver_Strain "Steering input by driver, torque";
 CM_ SG_ 159 Driver_Strain_VZ "Steering input by driver, sign (direction)";
+CM_ SG_ 159 Steering_Wheel_Angle "Steering angle WITHOUT variable ratio effect included";
 CM_ SG_ 919 LDW_DLC "Probable DLC (distance to line crossing)";
 CM_ SG_ 919 LDW_TLC "Probable TLC (time to line crossing)";
 CM_ SG_ 919 LDW_Unknown "Might be a steering pressed / driver active flag";
@@ -1274,6 +1336,10 @@ CM_ SG_ 919 Kombi_Lamp_Orange "Enables orange LDW light in instrument cluster";
 CM_ SG_ 919 Kombi_Lamp_Green "Enables green LDW light in instrument cluster";
 CM_ SG_ 780 Folgefahrt "Following another vehicle";
 CM_ SG_ 780 SetAbstand "Set following distance";
-CM_ SG_ 780 SetSpeed "ACC set speed";
 CM_ SG_ 780 Abstand "Following distance";
-VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T" ;
+CM_ SG_ 780 SetSpeed "ACC set speed";
+CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode mapped to Drive";
+CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on";
+VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T";
+VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D";
+VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3";
@@ -11,7 +11,7 @@ jobs:
      - run:
          name: Run safety test
          command: |
-            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; ./test.sh"
+            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"

  misra-c2012:
    machine:
@@ -92,6 +92,20 @@ jobs:
          command: |
            docker run language_check /bin/bash -c "cd /panda/tests/language; ./test_language.py"

+  linter_python:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t linter_python -f tests/linter_python/Dockerfile ."
+      - run:
+          name: Run linter python test
+          command: |
+            docker run linter_python /bin/bash -c "cd /panda/tests/linter_python; PYTHONPATH=/ ./flake8_panda.sh"
+            docker run linter_python /bin/bash -c "cd /panda/tests/linter_python; PYTHONPATH=/ ./pylint_panda.sh"
+
 workflows:
  version: 2
  main:
@@ -101,3 +115,4 @@ workflows:
      - build
      - safety_replay
      - language_check
+      - linter_python
--- a/Show More
+++ b/Show More