Merge branch 'devel-i18n' into devel-zht

Merge pull request #24 from dragonpilot-community/testing
dp 0.7.4.2
2026-08-24 01:33:50 +08:00 · 2020-04-10 09:16:33 +10:00 · 2020-04-10 09:14:04 +10:00 · 2020-04-10 09:07:58 +10:00 · 2020-04-10 09:03:10 +10:00 · 2020-04-09 17:59:31 +10:00
232 changed files with 8594 additions and 4832 deletions
@@ -57,3 +57,9 @@ panda_jungle
 htmlcov
 pandaextra

+apk/cn.dragonpilot.gpsservice.apk
+apk/com.autonavi.amapauto.apk
+apk/com.mixplorer.apk
+apk/com.tomtom.speedcams.android.map.apk
+apk/com.waze.apk
+apk/tw.com.ainvest.outpack.apk
@@ -14,15 +14,15 @@ Most open source development activity is coordinated through our [Discord](https

 ### Local Testing

-You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. 
+You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.

 ### Automated Testing

-All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
+All PRs are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.

 ### Code Style and Linting

-Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. 
+Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.

 ## Car Ports (openpilot)

@@ -32,9 +32,19 @@ If you port openpilot to a substantially new car brand, see this more generic [B

 ## Pull Requests

-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
+```
+git clone https://github.com/commaai/openpilot.git --recursive
+```
+Or alternatively, when on the master branch:
 ```
 git submodule init
 git submodule update
 ```
-in order to pull down the submodules, such as `panda` and `opendbc`.
+The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
+Modules that are in seperate repositories include:
+* apks
+* cereal
+* laika
+* opendbc
+* panda
@@ -62,90 +62,92 @@ At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/product
 Supported Cars
 ------

-| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
-| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 25mph        |
-| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph         |
-| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph        |
-| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph         |
-| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph        |
-| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 0mph         |
-| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>5</sup>  | 12mph        |
-| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph        |
-| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph         |
-| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
-| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
-| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph         |
-| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph         |
-| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph         |
-| Lexus     | NX Hybrid 2018                | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | RX 2016-17                    | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph         |
-| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
-| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Avalon 2017-18                | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph         |
-| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph         |
-| Toyota    | Corolla 2017-19               | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Highlander 2017-19            | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius 2017-19                 | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2017-18                  | All               | Stock<sup>4</sup>| 20mph<sup>5</sup>  | 0mph         |
-| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph         |
-| Toyota    | Sienna 2018                   | All               | Stock<sup>4</sup>| 0mph               | 0mph         |
-| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below      |
+| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
+| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>6</sup>  | 25mph             |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph              |
+| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph              |
+| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph             |
+| Honda     | Accord 2018-19                | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Accord Hybrid 2018-19         | All               | Stock            | 0mph               | 3mph              |
+| Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Civic Sedan/Coupe 2016-18     | Honda Sensing     | openpilot        | 0mph               | 12mph             |
+| Honda     | Civic Sedan/Coupe 2019        | Honda Sensing     | Stock            | 0mph               | 2mph<sup>4</sup>  |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | CR-V 2017-19                  | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | CR-V Hybrid 2017-2019         | Honda Sensing     | Stock            | 0mph               | 12mph             |
+| Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | Insight 2019                  | Honda Sensing     | Stock            | 0mph               | 3mph              |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 0mph              |
+| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-19             | Honda Sensing     | openpilot        | 25mph<sup>6</sup>  | 12mph             |
+| Hyundai   | Elantra 2017-19<sup>1</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph             |
+| Hyundai   | Genesis 2018<sup>1</sup>      | All               | Stock            | 19mph              | 34mph             |
+| Hyundai   | Santa Fe 2019<sup>1</sup>     | All               | Stock            | 0mph               | 0mph              |
+| Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph              |
+| Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph             |
+| Kia       | Optima 2019<sup>1</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph              |
+| Kia       | Sorento 2018<sup>1</sup>      | All               | Stock            | 0mph               | 0mph              |
+| Kia       | Stinger 2018<sup>1</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph              |
+| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
+| Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
+| Lexus     | NX Hybrid 2018                | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2016-17                    | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph              |
+| Subaru    | Impreza 2019-20               | EyeSight          | Stock            | 0mph               | 0mph              |
+| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Avalon 2017-18                | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Camry 2018-19                 | All               | Stock            | 0mph<sup>2</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>2</sup>   | 0mph              |
+| Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
+| Toyota    | Corolla 2017-19               | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla Hybrid 2020           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Highlander 2017-19            | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander 2020               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2017-19                 | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Rav4 2017-18                  | All               | Stock<sup>5</sup>| 20mph<sup>6</sup>  | 0mph              |
+| Toyota    | Rav4 2019                     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Sienna 2018                   | All               | Stock<sup>5</sup>| 0mph               | 0mph              |
+| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph              |

 <sup>1</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 Hyundai and Kia models. <br />
 <sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />

 Community Maintained Cars and Features
 ------

 | Make      | Model (US Market Reference)   | Supported Package | ACC              | No ACC accel below | No ALC below |
 | ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
-| Buick     | Regal 2018<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Cadillac  | ATS 2018<sup>6</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Malibu 2017<sup>6</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Chevrolet | Volt 2017-18<sup>6</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| GMC       | Acadia Denali 2018<sup>6</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
-| Holden    | Astra 2017<sup>6</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Buick     | Regal 2018<sup>7</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>7</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>7</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>7</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| GMC       | Acadia Denali 2018<sup>7</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Holden    | Astra 2017<sup>7</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |

-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace 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>5</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](https://comma.ai).*** <br />
-<sup>6</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>5</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace 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>6</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](https://comma.ai).*** <br />
+<sup>7</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />

 Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.

@@ -1,3 +1,14 @@
+Version 0.7.4 (2020-03-20)
+========================
+ * New driving model: improved lane changes and lead car detection
+ * Improved driver monitoring model: improve eye detection
+ * Improved calibration stability
+ * Improved lateral control on some 2019 and 2020 Toyota Prius
+ * Improved lateral control on VW Golf: 20% more steering torque
+ * Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
+ * Support for Honda Insight thanks to theantihero!
+ * Code cleanup in car abstraction layers and ui
+
 Version 0.7.3 (2020-02-21)
 ========================
 * Support for 2020 Highlander thanks to che220!
@@ -35,8 +35,7 @@ while 1:

 # in publisher
 pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message()
-dat.init('sensorEvents', 1)
+dat = messaging.new_message('sensorEvents', size=1)
 dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
 pm.send('sensorEvents', dat)
 ```
@@ -135,6 +135,7 @@ struct CarState {
  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
  stockAeb @30 :Bool;
  stockFcw @31 :Bool;
+  espDisabled @32 :Bool;

  # cruise state
  cruiseState @10 :CruiseState;
@@ -158,6 +159,10 @@ struct CarState {

  # which packets this state came from
  canMonoTimes @12: List(UInt64);
+  
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change

  struct WheelSpeeds {
    # optional wheel speeds
@@ -449,6 +454,7 @@ struct CarParams {
    noOutput @19;  # like silent but without silent CAN TXs
    hondaBoschHarness @20;
    volkswagenPq @21;
+    subaruLegacy @22;  # pre-Global platform
  }

  enum SteerControlType {
@@ -476,10 +482,21 @@ struct CarParams {
    fwdCamera @3;
    engine @4;
    unknown @5;
+    transmission @8; # Transmission Control Module
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster

    # Toyota only
    dsu @6;
    apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+    electricBrakeBooster @15;
+    shiftByWire @16;
  }

  enum FingerprintSource {
@@ -127,6 +127,8 @@ struct FrameData {
  lensTruePos @14 :Float32;
  image @6 :Data;
  gainFrac @15 :Float32;
+  focusVal @16 :List(Int16);
+  focusConf @17 :List(UInt8);

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
@@ -281,6 +283,7 @@ struct ThermalData {
  usbOnline @12 :Bool;
  networkType @22 :NetworkType;
  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
+  networkStrength @24 :NetworkStrength;

  fanSpeed @10 :UInt16;
  started @11 :Bool;
@@ -293,7 +296,7 @@ struct ThermalData {
  memUsedPercent @19 :Int8;
  cpuPerc @20 :Int8;

-  ipAddr @24 :Text; # dragonpilot
+  ipAddr @25 :Text; # dragonpilot

  enum ThermalStatus {
    green @0;   # all processes run
@@ -310,6 +313,14 @@ struct ThermalData {
    cell4G @4;
    cell5G @5;
  }
+
+  enum NetworkStrength {
+    unknown @0;
+    poor @1;
+    moderate @2;
+    good @3;
+    great @4;
+  }
 }

 struct HealthData {
@@ -628,9 +639,11 @@ struct ModelData {
    brakeDisengageProb @2 :Float32;
    gasDisengageProb @3 :Float32;
    steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
  }

  struct LongitudinalData {
+    distances @2 :List(Float32);
    speeds @0 :List(Float32);
    accelerations @1 :List(Float32);
  }
@@ -794,6 +807,52 @@ struct PathPlan {
  }
 }

+struct LiveLocationKalman {
+
+  # More info on reference frames: 
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+
+  positionECEF @0 : Measurement;
+  positionGeodetic @1 : Measurement;
+  velocityECEF @2 : Measurement;
+  velocityNED @3 : Measurement;
+  velocityDevice @4 : Measurement;
+  accelerationDevice @5: Measurement;
+
+
+  # These angles are all eulers and roll, pitch, yaw
+  # orientationECEF transforms to rot matrix: ecef_from_device
+  orientationECEF @6 : Measurement;
+  orientationNED @7 : Measurement;
+  angularVelocityDevice @8 : Measurement;
+  
+  # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
+  orientationNEDCalibrated @9 : Measurement;
+  
+  # Calibrated frame is simply device frame
+  # aligned with the vehicle
+  velocityCalibrated @10 : Measurement;
+  accelerationCalibrated @11 : Measurement;
+  angularVelocityCalibrated @12 : Measurement;
+
+  gpsWeek @13 :Int32;
+  gpsTimeOfWeek @14 :Float64;
+  status @15 :Status;
+  unixTimestampMillis @16 :Int64;
+  
+  enum Status {
+    uninitialized @0;
+    uncalibrated @1;
+    valid @2;
+  }
+
+  struct Measurement {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
+}
+
 struct LiveLocationData {
  status @0 :UInt8;

@@ -1881,6 +1940,16 @@ struct KalmanOdometry {
  rotStd @3 :List(Float32); # std rad/s in device frame
 }

+struct Sentinel {
+  enum SentinelType {
+    endOfSegment @0;
+    endOfRoute @1;
+    startOfSegment @2;
+    startOfRoute @3;
+  }
+  type @0 :SentinelType;
+}
+
 struct Event {
  # in nanoseconds?
  logMonoTime @0 :UInt64;
@@ -1937,7 +2006,7 @@ struct Event {
    gpsLocationExternal @48 :GpsLocationData;
    location @49 :LiveLocationData;
    uiNavigationEvent @50 :UiNavigationEvent;
-    liveLocationKalman @51 :LiveLocationData;
+    liveLocationKalmanDEPRECATED @51 :LiveLocationData;
    testJoystick @52 :Joystick;
    orbOdometry @53 :OrbOdometry;
    orbFeatures @54 :OrbFeatures;
@@ -1957,5 +2026,7 @@ struct Event {
    carParams @69: Car.CarParams;
    frontFrame @70: FrameData;
    dMonitoringState @71: DMonitoringState;
+    liveLocationKalman @72 :LiveLocationKalman;
+    sentinel @73 :Sentinel;
  }
 }
@@ -19,10 +19,15 @@ except ImportError:

 context = Context()

-def new_message():
+def new_message(service=None, size=None):
  dat = log.Event.new_message()
  dat.logMonoTime = int(sec_since_boot() * 1e9)
  dat.valid = True
+  if service is not None:
+    if size is None:
+      dat.init(service)
+    else:
+      dat.init(service, size)
  return dat

 def pub_sock(endpoint):
@@ -148,12 +153,11 @@ class SubMaster():
        self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
      self.freq[s] = service_list[s].frequency

-      data = new_message()
      try:
-        data.init(s)
+        data = new_message(s)
      except capnp.lib.capnp.KjException:
        # lists
-        data.init(s, 0)
+        data = new_message(s, 0)

      self.data[s] = getattr(data, s)
      self.logMonoTime[s] = 0
@@ -19,7 +19,7 @@ controlsState: [8007, true, 100., 100]
 model: [8009, true, 20., 5]
 features: [8010, true, 0.]
 health: [8011, true, 2., 1]
-radarState: [8012, true, 20.]
+radarState: [8012, true, 20., 5]
 #liveUI: [8014, true, 0.]
 encodeIdx: [8015, true, 20.]
 liveTracks: [8016, true, 20.]
@@ -57,7 +57,7 @@ orbslamCorrection: [8050, true, 0.]
 liveLocationCorrected: [8051, true, 0.]
 orbObservation: [8052, true, 0.]
 applanixLocation: [8053, true, 0.]
-liveLocationKalman: [8054, true, 0.]
+liveLocationKalman: [8054, true, 0., 1]
 uiNavigationEvent: [8055, true, 0.]
 orbOdometry: [8057, true, 0.]
 orbFeatures: [8058, false, 0.]
@@ -8,6 +8,7 @@ import random
 from cereal import log

 NetworkType = log.ThermalData.NetworkType
+NetworkStrength = log.ThermalData.NetworkStrength

 ANDROID = os.path.isfile('/EON')

@@ -128,3 +129,156 @@ def get_network_type():
      19: NetworkType.cell4G
    }
    return cell_networks.get(cell_check, NetworkType.none)
+
+def get_network_strength(network_type):
+  network_strength = NetworkStrength.unknown
+  # from SignalStrength.java
+  def get_lte_level(rsrp, rssnr):
+    INT_MAX = 2147483647
+    lvl_rsrp = NetworkStrength.unknown
+    lvl_rssnr = NetworkStrength.unknown
+    if rsrp == INT_MAX:
+      lvl_rsrp = NetworkStrength.unknown
+    elif rsrp >= -95:
+      lvl_rsrp = NetworkStrength.great
+    elif rsrp >= -105:
+      lvl_rsrp = NetworkStrength.good
+    elif rsrp >= -115:
+      lvl_rsrp = NetworkStrength.moderate
+    else:
+      lvl_rsrp = NetworkStrength.poor
+    if rssnr == INT_MAX:
+      lvl_rssnr = NetworkStrength.unknown
+    elif rssnr >= 45:
+      lvl_rssnr = NetworkStrength.great
+    elif rssnr >= 10:
+      lvl_rssnr = NetworkStrength.good
+    elif rssnr >= -30:
+      lvl_rssnr = NetworkStrength.moderate
+    else:
+      lvl_rssnr = NetworkStrength.poor
+    return max(lvl_rsrp, lvl_rssnr)
+
+  def get_tdscdma_level(tdscmadbm):
+    lvl = NetworkStrength.unknown
+    if tdscmadbm > -25:
+      lvl = NetworkStrength.unknown
+    elif tdscmadbm >= -49:
+      lvl = NetworkStrength.great
+    elif tdscmadbm >= -73:
+      lvl = NetworkStrength.good
+    elif tdscmadbm >= -97:
+      lvl = NetworkStrength.moderate
+    elif tdscmadbm >= -110:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_gsm_level(asu):
+    lvl = NetworkStrength.unknown
+    if asu <= 2 or asu == 99:
+      lvl = NetworkStrength.unknown
+    elif asu >= 12:
+      lvl = NetworkStrength.great
+    elif asu >= 8:
+      lvl = NetworkStrength.good
+    elif asu >= 5:
+      lvl = NetworkStrength.moderate
+    else:
+      lvl = NetworkStrength.poor
+    return lvl
+
+  def get_evdo_level(evdodbm, evdosnr):
+    lvl_evdodbm = NetworkStrength.unknown
+    lvl_evdosnr = NetworkStrength.unknown
+    if evdodbm >= -65:
+      lvl_evdodbm = NetworkStrength.great
+    elif evdodbm >= -75:
+      lvl_evdodbm = NetworkStrength.good
+    elif evdodbm >= -90:
+      lvl_evdodbm = NetworkStrength.moderate
+    elif evdodbm >= -105:
+      lvl_evdodbm = NetworkStrength.poor
+    if evdosnr >= 7:
+      lvl_evdosnr = NetworkStrength.great
+    elif evdosnr >= 5:
+      lvl_evdosnr = NetworkStrength.good
+    elif evdosnr >= 3:
+      lvl_evdosnr = NetworkStrength.moderate
+    elif evdosnr >= 1:
+      lvl_evdosnr = NetworkStrength.poor
+    return max(lvl_evdodbm, lvl_evdosnr)
+
+  def get_cdma_level(cdmadbm, cdmaecio):
+    lvl_cdmadbm = NetworkStrength.unknown
+    lvl_cdmaecio = NetworkStrength.unknown
+    if cdmadbm >= -75:
+      lvl_cdmadbm = NetworkStrength.great
+    elif cdmadbm >= -85:
+      lvl_cdmadbm = NetworkStrength.good
+    elif cdmadbm >= -95:
+      lvl_cdmadbm = NetworkStrength.moderate
+    elif cdmadbm >= -100:
+      lvl_cdmadbm = NetworkStrength.poor
+    if cdmaecio >= -90:
+      lvl_cdmaecio = NetworkStrength.great
+    elif cdmaecio >= -110:
+      lvl_cdmaecio = NetworkStrength.good
+    elif cdmaecio >= -130:
+      lvl_cdmaecio = NetworkStrength.moderate
+    elif cdmaecio >= -150:
+      lvl_cdmaecio = NetworkStrength.poor
+    return max(lvl_cdmadbm, lvl_cdmaecio)
+
+  if network_type == NetworkType.none:
+    return network_strength
+  if network_type == NetworkType.wifi:
+    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('ascii')
+    network_strength = NetworkStrength.unknown
+    for line in out.split('\n'):
+      signal_str = "SignalStrength: "
+      if signal_str in line:
+        lvl_idx_start = line.find(signal_str) + len(signal_str)
+        lvl_idx_end = line.find(']', lvl_idx_start)
+        lvl = int(line[lvl_idx_start : lvl_idx_end])
+        if lvl >= -50:
+          network_strength = NetworkStrength.great
+        elif lvl >= -60:
+          network_strength = NetworkStrength.good
+        elif lvl >= -70:
+          network_strength = NetworkStrength.moderate
+        else:
+          network_strength = NetworkStrength.poor
+    return network_strength
+  else:
+    # check cell strength
+    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('ascii')
+    for line in out.split('\n'):
+      if "mSignalStrength" in line:
+        arr = line.split(' ')
+        ns = 0
+        if ("gsm" in arr[14]):
+          rsrp = int(arr[9])
+          rssnr = int(arr[11])
+          ns = get_lte_level(rsrp, rssnr)
+          if ns == NetworkStrength.unknown:
+            tdscmadbm = int(arr[13])
+            ns = get_tdscdma_level(tdscmadbm)
+            if ns == NetworkStrength.unknown:
+              asu = int(arr[1])
+              ns = get_gsm_level(asu)
+        else:
+          cdmadbm = int(arr[3])
+          cdmaecio = int(arr[4])
+          evdodbm = int(arr[5])
+          evdosnr = int(arr[7])
+          lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
+          lvl_edmo = get_evdo_level(evdodbm, evdosnr)
+          if lvl_edmo == NetworkStrength.unknown:
+            ns = lvl_cdma
+          elif lvl_cdma == NetworkStrength.unknown:
+            ns = lvl_edmo
+          else:
+            ns = min(lvl_cdma, lvl_edmo)
+        network_strength = max(network_strength, ns)
+
+    return network_strength
@@ -6,7 +6,7 @@ import shutil
 from common.basedir import BASEDIR
 from selfdrive.swaglog import cloudlog

-android_packages = ("tw.com.ainvest.outpack", "cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "ai.comma.plus.offroad", "ai.comma.plus.frame")
+android_packages = ("ai.comma.plus.offroad",)

 def get_installed_apks():
  dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
@@ -26,9 +26,9 @@ def install_apk(path):
  os.remove(install_path)
  return ret == 0

-def start_frame():
+def start_offroad():
  set_package_permissions()
-  system("am start -n ai.comma.plus.frame/.MainActivity")
+  system("am start -n ai.comma.plus.offroad/.MainActivity")

 def set_package_permissions():
  pm_grant("ai.comma.plus.offroad", "android.permission.ACCESS_FINE_LOCATION")
@@ -95,4 +95,3 @@ def pm_apply_packages(cmd):

 if __name__ == "__main__":
  update_apks()
-
@@ -0,0 +1,50 @@
+def cputime_total(ct):
+  return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
+
+
+def print_cpu_usage(first_proc, last_proc):
+  r = 0
+  procs = [
+      ("selfdrive.controls.controlsd", 59.46),
+      ("./_modeld", 48.94),
+      ("./loggerd", 28.49),
+      ("selfdrive.controls.plannerd", 19.77),
+      ("selfdrive.controls.radard", 9.54),
+      ("./_ui", 9.54),
+      ("./camerad", 7.07),
+      ("selfdrive.locationd.locationd", 7.13),
+      ("./_sensord", 6.17),
+      ("selfdrive.controls.dmonitoringd", 5.48),
+      ("./boardd", 3.63),
+      ("./_dmonitoringmodeld", 2.67),
+      ("selfdrive.logmessaged", 2.71),
+      ("selfdrive.thermald", 2.41),
+      ("./paramsd", 2.18),
+      ("selfdrive.locationd.calibrationd", 1.76),
+      ("./proclogd", 1.54),
+      ("./_gpsd", 0.09),
+      ("./clocksd", 0.02),
+      ("./ubloxd", 0.02),
+      ("selfdrive.tombstoned", 0),
+      ("./logcatd", 0),
+      ("selfdrive.updated", 0),
+  ]
+
+  dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
+  print("------------------------------------------------")
+  for proc_name, normal_cpu_usage in procs:
+    try:
+      first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
+      last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
+      cpu_time = cputime_total(last) - cputime_total(first)
+      cpu_usage = cpu_time / dt * 100.
+      if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
+        print(f"Warning {proc_name} using more CPU than normal")
+        r = 1
+
+      print(f"{proc_name.ljust(35)}  {cpu_usage:.2f}%")
+    except IndexError:
+      print(f"{proc_name.ljust(35)}  NO METRICS FOUND")
+  print("------------------------------------------------")
+
+  return r
@@ -22,6 +22,8 @@ file in place without messing with <params_dir>/d.
 """
 import time
 import os
+import string
+import binascii
 import errno
 import sys
 import shutil
@@ -59,6 +61,7 @@ keys = {
  "CommunityFeaturesToggle": [TxType.PERSISTENT],
  "CompletedTrainingVersion": [TxType.PERSISTENT],
  "ControlsParams": [TxType.PERSISTENT],
+  "DisablePowerDown": [TxType.PERSISTENT],
  "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
  "DongleId": [TxType.PERSISTENT],
  "GitBranch": [TxType.PERSISTENT],
@@ -169,6 +172,14 @@ keys = {
  "DragonBootHotspot": [TxType.PERSISTENT],
  "DragonAccelProfile": [TxType.PERSISTENT],
  "DragonLastModified": [TxType.PERSISTENT],
+  "DragonEnableRegistration": [TxType.PERSISTENT],
+  "DragonDynamicFollow": [TxType.PERSISTENT],
+  "DragonEnableGearCheck": [TxType.PERSISTENT],
+  "DragonEnableTempMonitor": [TxType.PERSISTENT],
+  "DragonEnableCurvatureLearner": [TxType.PERSISTENT],
+  "DragonCurvatureLearnerOffset": [TxType.PERSISTENT],
+  "DragonAppAutoUpdate": [TxType.PERSISTENT],
+  "DragonUpdating": [TxType.CLEAR_ON_MANAGER_START],
 }


@@ -473,10 +484,10 @@ if __name__ == "__main__":
      pp = params.get(k)
      if pp is None:
        print("%s is None" % k)
-      elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
+      elif all(chr(c) in string.printable for c in pp):
        print("%s = %s" % (k, pp))
      else:
-        print("%s = %s" % (k, pp.encode("hex")))
+        print("%s = %s" % (k, binascii.hexlify(pp)))

  # Test multiprocess:
  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
@@ -85,6 +85,12 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x117: // ACC_10 Automatic Cruise Control
      crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
      break;
+    case 0x120: // TSK_06 Drivetrain Coordinator
+      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      break;
+    case 0x121: // Motor_20 Driver Throttle Inputs
+      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
+      break;
    case 0x122: // ACC_06 Automatic Cruise Control
      crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
      break;
@@ -160,6 +160,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -284,5 +360,9 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
@@ -56,6 +56,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -63,6 +64,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -93,12 +101,15 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
 SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -138,7 +149,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
@@ -148,10 +159,12 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -201,6 +214,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -210,6 +224,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
@@ -0,0 +1,14 @@
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
@@ -2,9 +2,8 @@ CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"

 BO_ 548 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX

 BO_ 581 GAS_PEDAL: 5 XXX
 SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -14,6 +13,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -11,6 +11,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -15,6 +15,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -15,6 +15,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -1,5 +1,6 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
+CM_ "IMPORT _toyota_nodsu_bsm.dbc"

 BO_ 295 GEAR_PACKET: 8 XXX
 SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
@@ -1,5 +1,6 @@
 CM_ "IMPORT _toyota_2017.dbc"
 CM_ "IMPORT _comma.dbc"
+CM_ "IMPORT _toyota_nodsu_bsm.dbc"

 BO_ 401 STEERING_LTA: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
@@ -14,6 +14,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -14,6 +14,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -15,6 +15,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_accord_lx15t_2018_can.dbc starts here"
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_accord_s2t_2018_can.dbc starts here"
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here"
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_crv_ex_2017_can.dbc starts here"
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_crv_hybrid_2019_can.dbc starts here"
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM

 BO_ 420 VSA_STATUS: 8 VSA
 SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
 SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
 SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
@@ -85,6 +86,13 @@ BO_ 420 VSA_STATUS: 8 VSA
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
 BO_ 432 STANDSTILL: 7 VSA
 SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
 SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
@@ -115,12 +123,15 @@ BO_ 506 BRAKE_COMMAND: 8 ADAS
 SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
 SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
- SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
 SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
 SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
 SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
 SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
 SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
@@ -160,7 +171,7 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
 SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
 SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
 SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
 SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
@@ -170,10 +181,12 @@ BO_ 780 ACC_HUD: 8 ADAS
 SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
 SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
 SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
- SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY

@@ -223,6 +236,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

 CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
 CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
 CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
 CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
@@ -232,6 +246,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

 VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
 VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
 VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
 VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
 VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
@@ -164,6 +164,82 @@ BO_ 545 XXX_16: 6 SCM
 SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
 SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY

+BO_ 576 LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 577 LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+ 
+BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
+ SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
+ SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
+ SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
+ SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
+BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
+ SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
+ SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
+ SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
+ SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
+
 BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
 SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
 SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
@@ -288,7 +364,11 @@ BO_ 891 STALK_STATUS_2: 8 XXX
 CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
 CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
 CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
-
+CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
+CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
+CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
+CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
+CM_ SG_ 577 LINE_SOLID "1 = line is solid";
 VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;

 CM_ "honda_insight_ex_2019_can.dbc starts here"
@@ -361,9 +361,8 @@ CM_ "lexus_ct200h_2018_pt.dbc starts here"


 BO_ 548 BRAKE_MODULE: 8 XXX
- SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
- SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
+ SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX

 BO_ 581 GAS_PEDAL: 5 XXX
 SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
@@ -373,6 +372,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -373,6 +373,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -373,6 +373,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -370,6 +370,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -373,6 +373,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -45,26 +45,28 @@ BO_ 645 WheelspeedRear: 8 XXX
 SG_ RR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
 SG_ RL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX

-BO_ 768 STEER_TORQUE: 8 XXX
- SG_ STEERING_TOURQUE : 0|7@1+ (1,0) [0|127] "" XXX
+BO_ 768 STEER_TORQUE: 2 XXX
+ SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ DriverTouchingWheel : 15|1@0+ (-1,1) [0|7] "" XXX

 BO_ 459 Maybe_RegenBraking: 8 XXX

 BO_ 372 Maybe_Gear_Selector: 8 XXX
- SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 35|4@0+ (1,0) [0|15] "" XXX

 BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX

 BO_ 460 Maybe_Brake_Related: 8 XXX

 BO_ 2 SteeringWheel: 8 XXX
- SG_ Steering_RateChange : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ Always_07 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Steering_RateChange : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Always_07 : 24|8@1+ (1,0) [0|255] "" XXX
 SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX

 BO_ 384 Maybe_PowerInfo: 8 XXX
- SG_ Unknown_Timer_PowerInfo : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Unknown_Timer_PowerInfo : 51|4@0+ (1,0) [0|15] "" XXX
 SG_ EnginePower : 27|12@0- (1,0) [0|1] "" XXX
 SG_ RequestedAccel : 23|12@0- (1,0) [0|4294967295] "" XXX

@@ -78,32 +80,13 @@ BO_ 666 WheelspeedFront: 8 XXX
 SG_ FR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
 SG_ FL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX

-BO_ 398 NEW_MSG_2: 8 XXX
-
-BO_ 389 NEW_MSG_3: 8 XXX
- SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 22|6@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|127] "" XXX
- SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 30|8@0- (1,0) [0|255] "" XXX
-
-BO_ 397 NEW_MSG_4: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|31] "" XXX
-
-BO_ 658 NEW_MSG_5: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
-
-BO_ 855 NEW_MSG_6: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 773 NEW_MSG_7: 8 XXX
- SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX
+BO_ 389 Steering: 8 XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Torque : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CRC : 63|8@0+ (1,0) [0|127] "" XXX
+ SG_ Angle : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ DriverTorque : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX

 BO_ 851 SPEED_RELATED: 8 XXX
 SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
@@ -111,31 +94,30 @@ BO_ 851 SPEED_RELATED: 8 XXX
 BO_ 386 Accelerator: 8 XXX
 SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX

-BO_ 347 ACCELSOMETHING: 8 XXX
- SG_ PowerMaybe : 9|10@0+ (1,0) [0|1023] "" XXX
- SG_ ACCELERATOR2 : 6|11@0+ (1,-800) [0|65535] "" XXX
-
-BO_ 346 ANOTHER_ACCEL: 8 XXX
- SG_ ANOTHERACCEL : 23|10@0+ (1,0) [0|1023] "" XXX
- SG_ Reverse_ACCEL : 25|10@0+ (1,0) [0|1023] "" XXX
-
-BO_ 348 FULLRANGEACCEL: 8 XXX
- SG_ AccelFullRange : 47|10@0+ (1,0) [0|1023] "" XXX
- SG_ Accel : 26|11@0+ (1,0) [0|2047] "" XXX
+BO_ 348 Throttle: 8 XXX
 SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ Throttle : 26|11@0+ (1,0) [0|2047] "" XXX
+ SG_ ThrottlePedal : 47|10@0+ (1,0) [0|1023] "" XXX

-BO_ 566 ANOTHERFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERFULLRANGEACCEL : 43|8@0+ (1,0) [0|1023] "" XXX
- SG_ RPMORTORQUE : 31|8@0+ (1,0) [0|255] "" XXX
+BO_ 523 CruiseThrottle: 6 XXX
+ SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
+ SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX
+ SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
+ SG_ unsure1 : 7|16@0+ (1,0) [0|15] "" XXX
+ SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
+ SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX

-BO_ 523 Yetyetanotheraccel: 8 XXX
- SG_ ANOTHERREVERSEACCEL : 37|10@0+ (1,0) [0|1023] "" XXX
- SG_ yetyetanotheraccel : 31|10@0+ (1,0) [0|255] "" XXX
-
-BO_ 779 ANOTHERRRFULLRANGEACCEL: 8 XXX
- SG_ ANOTHERRRFULLRANGEACCEL : 47|8@0+ (1,0) [0|255] "" XXX
-
-BO_ 1108 Doors: 8 XXX
+BO_ 1108 DoorsLights: 8 XXX
 SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
@@ -145,29 +127,25 @@ BO_ 1108 Doors: 8 XXX
 SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX
 SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX
 SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX

 BO_ 403 LKAS_OLD: 8 XXX
 SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ Angle_2 : 32|13@0+ (1,-4000) [0|63] "" XXX
- SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
 SG_ Angle_1 : 10|13@0+ (0.12,-480) [0|65535] "" XXX
 SG_ Steering_Torque : 7|13@0+ (-1,4000) [0|65535] "" XXX
 SG_ Torque_Command : 29|13@0+ (1,-4000) [0|255] "" XXX

-BO_ 412 NEW_MSG_9: 8 XXX
- SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
- SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|255] "" XXX
-
 BO_ 361 LKAS: 8 XXX
- SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_X80 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ LKA_Active : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
+ SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
 SG_ CRC : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ Des_Angle : 7|18@0+ (-0.01,1310) [0|255] "" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX

 BO_ 438 ProPilot: 8 XXX
 SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|255] "" XXX
@@ -175,10 +153,108 @@ BO_ 438 ProPilot: 8 XXX
 SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|7] "" XXX
 SG_ Counter : 55|4@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_3 : 32|2@1+ (1,0) [0|15] "" XXX
+ SG_ SET_3 : 33|2@0+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 7|12@0- (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 23|12@0- (-1,0) [0|255] "" XXX
- SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
 SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
- SG_ STEER_STATUS : 51|1@1+ (1,0) [0|3] "" XXX
- 
+ SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 397 _GEAR: 8 XXX
+ SG_ GEAR : 27|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 1273 _SEATBELT: 7 XXX
+ SG_ DRIVERS_SEATBELT : 25|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 665 _ESP: 8 XXX
+ SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1055 GEARBOX: 2 XXX
+ SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
+
+BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
+ SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX
+ SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX
+ SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
+
+BO_ 689 PROPILOT_HUD: 8 XXX
+ SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
+ SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown39 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown8 : 8|7@0+ (1,0) [0|63] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+
+
+
+
+
+VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
+VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
+VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
+VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
+VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
+VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
@@ -120,6 +120,8 @@ BO_ 312 Brake_Pressure_L_R: 8 XXX
 SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX

 BO_ 313 Brake_Pedal: 8 XXX
+ SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
 SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX

@@ -374,6 +374,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -373,6 +373,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -374,6 +374,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -373,6 +373,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -1,6 +1,23 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"


+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+
 CM_ "Imported file _comma.dbc starts here"
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
@@ -360,6 +377,7 @@ CM_ "toyota_nodsu_hybrid_pt.dbc starts here"



+
 BO_ 295 GEAR_PACKET: 8 XXX
 SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
 SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
@@ -1,6 +1,23 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT"


+CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+
+
 CM_ "Imported file _comma.dbc starts here"
 BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
 SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
@@ -360,6 +377,7 @@ CM_ "toyota_nodsu_pt.dbc starts here"



+
 BO_ 401 STEERING_LTA: 8 XXX
 SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -373,6 +373,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -373,6 +373,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -374,6 +374,7 @@ 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: 5 EPS
 SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -825,6 +825,8 @@ BO_ 1648 Motor_18: 8 Motor_Diesel_MQB
 SG_ MO_obere_Drehzahlgrenze : 56|8@1+ (50,0) [50|12750] "Unit_MinutInver" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB

 BO_ 289 Motor_20: 8 Motor_Diesel_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|255] "" XXX
 SG_ MO_Fahrpedalrohwert_01 : 12|8@1+ (0.4,0) [0|101.6] "Unit_PerCent" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ MO_QBit_Fahrpedalwerte_01 : 20|1@1+ (1,0) [0|1] "" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ MO_Fahrpedalgradient : 21|8@1+ (25,0) [0|6350] "Unit_PerCentPerSecon" Airbag_MQB,Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
@@ -1106,8 +1108,8 @@ BO_ 1413 Systeminfo_01: 8 Gateway_MQB
 SG_ SI_BUS_15 : 30|1@1+ (1,0) [0|1] "" Vector__XXX

 BO_ 288 TSK_06: 8 Motor_Diesel_MQB
- SG_ TSK_06_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
- SG_ TSK_06_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ TSK_Radbremsmom : 12|12@1+ (8,0) [0|32760] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ TSK_Status : 24|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
 SG_ TSK_v_Begrenzung_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
@@ -1 +1 @@
-v1.7.3
+v1.7.5
@@ -36,6 +36,10 @@
     __typeof__ (b) _b = (b); \
   (_a > _b) ? _a : _b; })

+#define ABS(a) \
+ ({ __typeof__ (a) _a = (a); \
+   (_a > 0) ? _a : (-_a); })
+
 #define MAX_RESP_LEN 0x40U

 // Around (1Mbps / 8 bits/byte / 12 bytes per message)
@@ -0,0 +1,16 @@
+uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly) {
+  uint8_t crc = 0xFF;
+  int i, j;
+  for (i = len - 1; i >= 0; i--) {
+    crc ^= dat[i];
+    for (j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U) {
+        crc = (uint8_t)((crc << 1) ^ poly);
+      }
+      else {
+        crc <<= 1;
+      }
+    }
+  }
+  return crc;
+}
@@ -28,6 +28,7 @@ void can_set_forwarding(int from, int to);

 void can_init(uint8_t can_number);
 void can_init_all(void);
+bool can_tx_check_min_slots_free(uint32_t min);
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
 bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);

@@ -107,6 +108,20 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
  return ret;
 }

+uint32_t can_slots_empty(can_ring *q) {
+  uint32_t ret = 0;
+
+  ENTER_CRITICAL();
+  if (q->w_ptr >= q->r_ptr) {
+    ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
+  } else {
+    ret = q->r_ptr - q->w_ptr - 1U;
+  }
+  EXIT_CRITICAL();
+
+  return ret;
+}
+
 void can_clear(can_ring *q) {
  ENTER_CRITICAL();
  q->w_ptr = 0;
@@ -317,6 +332,10 @@ void process_can(uint8_t can_number) {
        CAN->sTxMailBox[0].TDHR = to_send.RDHR;
        CAN->sTxMailBox[0].TDTR = to_send.RDTR;
        CAN->sTxMailBox[0].TIR = to_send.RIR;
+
+        if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
+          usb_outep3_resume_if_paused();
+        }
      }
    }

@@ -405,6 +424,14 @@ void CAN3_TX_IRQ_Handler(void) { process_can(2); }
 void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
 void CAN3_SCE_IRQ_Handler(void) { can_sce(CAN3); }

+bool can_tx_check_min_slots_free(uint32_t min) {
+  return
+    (can_slots_empty(&can_tx1_q) >= min) &&
+    (can_slots_empty(&can_tx2_q) >= min) &&
+    (can_slots_empty(&can_tx3_q) >= min) &&
+    (can_slots_empty(&can_txgmlan_q) >= min);
+}
+
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
  if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
    if (bus_number < BUS_MAX) {
@@ -11,7 +11,7 @@
 #define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
 #define GET_LEN(msg) ((msg)->RDTR & 0xF)
 #define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
-#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
+#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
 #define GET_BYTES_04(msg) ((msg)->RDLR)
 #define GET_BYTES_48(msg) ((msg)->RDHR)

@@ -52,7 +52,7 @@ bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool s
 void llcan_init(CAN_TypeDef *CAN_obj) {
  // Enter init mode
  register_set_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
-  
+
  // Wait for INAK bit to be set
  while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {}

@@ -23,12 +23,16 @@ typedef union _USB_Setup {
 }
 USB_Setup_TypeDef;

+#define MAX_CAN_MSGS_PER_BULK_TRANSFER 4U
+
 void usb_init(void);
 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
 int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
 void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
 void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
+void usb_cb_ep3_out_complete(void);
 void usb_cb_enumeration_complete(void);
+void usb_outep3_resume_if_paused(void);

 // **** supporting defines ****

@@ -380,6 +384,7 @@ USB_Setup_TypeDef setup;
 uint8_t usbdata[0x100];
 uint8_t* ep0_txdata = NULL;
 uint16_t ep0_txlen = 0;
+bool outep3_processing = false;

 // Store the current interface alt setting.
 int current_int0_alt_setting = 0;
@@ -744,6 +749,7 @@ void usb_irqhandler(void) {
      }

      if (endpoint == 3) {
+        outep3_processing = true;
        usb_cb_ep3_out(usbdata, len, 1);
      }
    } else if (status == STS_SETUP_UPDT) {
@@ -816,15 +822,17 @@ void usb_irqhandler(void) {
      #ifdef DEBUG_USB
        puts("  OUT3 PACKET XFRC\n");
      #endif
-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+      // NAK cleared by process_can (if tx buffers have room)
+      outep3_processing = false;
+      usb_cb_ep3_out_complete();
    } else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
      #ifdef DEBUG_USB
        puts("  OUT3 PACKET WTF\n");
      #endif
      // if NAK was set trigger this, unknown interrupt
-      USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
-      USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
+      // TODO: why was this here? fires when TX buffers when we can't clear NAK
+      // USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+      // USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
    } else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
      puts("OUTEP3 error ");
      puth(USBx_OUTEP(3)->DOEPINT);
@@ -932,6 +940,15 @@ void usb_irqhandler(void) {
  //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
 }

+void usb_outep3_resume_if_paused() {
+  ENTER_CRITICAL();
+  if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
+    USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
+    USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
+  }
+  EXIT_CRITICAL();
+}
+
 void OTG_FS_IRQ_Handler(void) {
  NVIC_DisableIRQ(OTG_FS_IRQn);
  //__disable_irq();
@@ -1,5 +1,7 @@
 #!/bin/bash
 # Need formula for gcc
+sudo easy_install pip
+/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
 brew tap ArmMbed/homebrew-formulae
 brew install python dfu-util arm-none-eabi-gcc
 pip install --user libusb1 pycrypto requests
@@ -235,6 +235,12 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
  }
 }

+void usb_cb_ep3_out_complete() {
+  if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
+    usb_outep3_resume_if_paused();
+  }
+}
+
 void usb_cb_enumeration_complete() {
  puts("USB enumeration complete\n");
  is_enumerated = 1;
@@ -469,6 +475,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
        can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
      }
      break;
+    // **** 0xdf: set unsafe mode
+    case 0xdf:
+      // you can only set this if you are in a non car safety mode
+      if ((current_safety_mode == SAFETY_SILENT) ||
+          (current_safety_mode == SAFETY_NOOUTPUT) ||
+          (current_safety_mode == SAFETY_ELM327)) {
+        unsafe_mode = setup->b.wValue.w;
+      }
+      break;
    // **** 0xe0: uart read
    case 0xe0:
      ur = get_ring_by_number(setup->b.wValue.w);
@@ -19,6 +19,7 @@
 #include "drivers/timer.h"

 #include "gpio.h"
+#include "crc.h"

 #define CAN CAN1

@@ -75,6 +76,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
  UNUSED(len);
  UNUSED(hardwired);
 }
+void usb_cb_ep3_out_complete(void) {}
 void usb_cb_enumeration_complete(void) {}

 int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
@@ -105,26 +107,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)

 #endif

-// ***************************** pedal can checksum *****************************
-
-uint8_t pedal_checksum(uint8_t *dat, int len) {
-  uint8_t crc = 0xFF;
-  uint8_t poly = 0xD5; // standard crc8
-  int i, j;
-  for (i = len - 1; i >= 0; i--) {
-    crc ^= dat[i];
-    for (j = 0; j < 8; j++) {
-      if ((crc & 0x80U) != 0U) {
-        crc = (uint8_t)((crc << 1) ^ poly);
-      }
-      else {
-        crc <<= 1;
-      }
-    }
-  }
-  return crc;
-}
-
 // ***************************** can port *****************************

 // addresses to be used on CAN
@@ -155,6 +137,8 @@ uint32_t current_index = 0;
 #define FAULT_INVALID 6U
 uint8_t state = FAULT_STARTUP;

+const uint8_t crc_poly = 0xD5;  // standard crc8
+
 void CAN1_RX0_IRQ_Handler(void) {
  while ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
    #ifdef DEBUG
@@ -184,7 +168,7 @@ void CAN1_RX0_IRQ_Handler(void) {
      uint16_t value_1 = (dat[2] << 8) | dat[3];
      bool enable = ((dat[4] >> 7) & 1U) != 0U;
      uint8_t index = dat[4] & COUNTER_CYCLE;
-      if (pedal_checksum(dat, CAN_GAS_SIZE - 1) == dat[5]) {
+      if (crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly) == dat[5]) {
        if (((current_index + 1U) & COUNTER_CYCLE) == index) {
          #ifdef DEBUG
            puts("setting gas ");
@@ -247,7 +231,7 @@ void TIM3_IRQ_Handler(void) {
    dat[2] = (pdl1 >> 8) & 0xFFU;
    dat[3] = (pdl1 >> 0) & 0xFFU;
    dat[4] = ((state & 0xFU) << 4) | pkt_idx;
-    dat[5] = pedal_checksum(dat, CAN_GAS_SIZE - 1);
+    dat[5] = crc_checksum(dat, CAN_GAS_SIZE - 1, crc_poly);
    CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1] << 8) | (dat[2] << 16) | (dat[3] << 24);
    CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5] << 8);
    CAN->sTxMailBox[0].TDTR = 6;  // len of packet is 5
@@ -4,7 +4,6 @@
 #include "safety/safety_defaults.h"
 #include "safety/safety_honda.h"
 #include "safety/safety_toyota.h"
-#include "safety/safety_toyota_ipas.h"
 #include "safety/safety_tesla.h"
 #include "safety/safety_gm_ascm.h"
 #include "safety/safety_gm.h"
@@ -14,6 +13,7 @@
 #include "safety/safety_chrysler.h"
 #include "safety/safety_subaru.h"
 #include "safety/safety_mazda.h"
+#include "safety/safety_nissan.h"
 #include "safety/safety_volkswagen.h"
 #include "safety/safety_elm327.h"

@@ -31,12 +31,14 @@
 #define SAFETY_TESLA 10U
 #define SAFETY_SUBARU 11U
 #define SAFETY_MAZDA 13U
-#define SAFETY_VOLKSWAGEN 15U
-#define SAFETY_TOYOTA_IPAS 16U
+#define SAFETY_NISSAN 14U
+#define SAFETY_VOLKSWAGEN_MQB 15U
 #define SAFETY_ALLOUTPUT 17U
 #define SAFETY_GM_ASCM 18U
 #define SAFETY_NOOUTPUT 19U
 #define SAFETY_HONDA_BOSCH_HARNESS 20U
+#define SAFETY_VOLKSWAGEN_PQ 21U
+#define SAFETY_SUBARU_LEGACY 22U

 uint16_t current_safety_mode = SAFETY_SILENT;
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -57,6 +59,21 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  return current_hooks->fwd(bus_num, to_fwd);
 }

+// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
+// algorithm. Called at init time for safety modes using CRC-8.
+void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
+  for (int i = 0; i < 256; i++) {
+    uint8_t crc = i;
+    for (int j = 0; j < 8; j++) {
+      if ((crc & 0x80U) != 0U)
+        crc = (uint8_t)((crc << 1) ^ poly);
+      else
+        crc <<= 1;
+    }
+    crc_lut[i] = crc;
+  }
+}
+
 bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len) {
  bool allowed = false;
  for (int i = 0; i < len; i++) {
@@ -167,6 +184,15 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
  return is_msg_valid(rx_checks, index);
 }

+void relay_malfunction_set(void) {
+  relay_malfunction = true;
+  fault_occurred(FAULT_RELAY_MALFUNCTION);
+}
+
+void relay_malfunction_reset(void) {
+  relay_malfunction = false;
+  fault_recovered(FAULT_RELAY_MALFUNCTION);
+}

 typedef struct {
  uint16_t id;
@@ -184,13 +210,15 @@ const safety_hook_config safety_hook_registry[] = {
  {SAFETY_HYUNDAI, &hyundai_hooks},
  {SAFETY_CHRYSLER, &chrysler_hooks},
  {SAFETY_SUBARU, &subaru_hooks},
+  {SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
  {SAFETY_MAZDA, &mazda_hooks},
-  {SAFETY_VOLKSWAGEN, &volkswagen_hooks},
+  {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
+  {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
  {SAFETY_NOOUTPUT, &nooutput_hooks},
 #ifdef ALLOW_DEBUG
  {SAFETY_CADILLAC, &cadillac_hooks},
-  {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
  {SAFETY_TESLA, &tesla_hooks},
+  {SAFETY_NISSAN, &nissan_hooks},
  {SAFETY_ALLOUTPUT, &alloutput_hooks},
  {SAFETY_GM_ASCM, &gm_ascm_hooks},
  {SAFETY_FORD, &ford_hooks},
@@ -4,28 +4,79 @@ const uint32_t CHRYSLER_RT_INTERVAL = 250000;  // 250ms between real time checks
 const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
+const int CHRYSLER_GAS_THRSLD = 30;  // 7% more than 2m/s
+const int CHRYSLER_STANDSTILL_THRSLD = 10;  // about 1m/s
 const AddrBus CHRYSLER_TX_MSGS[] = {{571, 0}, {658, 0}, {678, 0}};

 // TODO: do checksum and counter checks
 AddrCheckStruct chrysler_rx_checks[] = {
-  {.addr = {544}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {500}, .bus = 0, .expected_timestep = 20000U},
+  {.addr = {544}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
+  {.addr = {514}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
+  {.addr = {500}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
+  {.addr = {308}, .bus = 0, .check_checksum = false, .max_counter = 15U,  .expected_timestep = 20000U},
+  {.addr = {320}, .bus = 0, .check_checksum = true, .max_counter = 15U,  .expected_timestep = 20000U},
 };
 const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);

 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
+int chrysler_speed = 0;
 uint32_t chrysler_ts_last = 0;
 struct sample_t chrysler_torque_meas;         // last few torques measured

+static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  int checksum_byte = GET_LEN(to_push) - 1;
+  return (uint8_t)(GET_BYTE(to_push, checksum_byte));
+}
+
+static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  /* This function does not want the checksum byte in the input data.
+  jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  uint8_t checksum = 0xFF;
+  int len = GET_LEN(to_push);
+  for (int j = 0; j < (len - 1); j++) {
+    uint8_t shift = 0x80;
+    uint8_t curr = (uint8_t)GET_BYTE(to_push, j);
+    for (int i=0; i<8; i++) {
+      uint8_t bit_sum = curr & shift;
+      uint8_t temp_chk = checksum & 0x80U;
+      if (bit_sum != 0U) {
+        bit_sum = 0x1C;
+        if (temp_chk != 0U) {
+          bit_sum = 1;
+        }
+        checksum = checksum << 1;
+        temp_chk = checksum | 1U;
+        bit_sum ^= temp_chk;
+      } else {
+        if (temp_chk != 0U) {
+          bit_sum = 0x1D;
+        }
+        checksum = checksum << 1;
+        bit_sum ^= checksum;
+      }
+      checksum = bit_sum;
+      shift = shift >> 1;
+    }
+  }
+  return ~checksum;
+}
+
+static uint8_t chrysler_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  // Well defined counter only for 8 bytes messages
+  return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
+}
+
 static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+                                 chrysler_get_checksum, chrysler_compute_checksum,
+                                 chrysler_get_counter);

-  if (valid) {
-    int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
+  if (valid && (GET_BUS(to_push) == 0)) {
    int addr = GET_ADDR(to_push);

    // Measured eps torque
@@ -37,7 +88,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    }

    // enter controls on rising edge of ACC, exit controls on ACC off
-    if (addr == 0x1F4) {
+    if (addr == 500) {
      int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
      if (cruise_engaged && !chrysler_cruise_engaged_last) {
        controls_allowed = 1;
@@ -48,11 +99,34 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
      chrysler_cruise_engaged_last = cruise_engaged;
    }

-    // TODO: add gas pressed check
+    // update speed
+    if (addr == 514) {
+      int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
+      int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
+      chrysler_speed = (speed_l + speed_r) / 2;
+    }
+
+    // exit controls on rising edge of gas press
+    if (addr == 308) {
+      bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
+        controls_allowed = 0;
+      }
+      gas_pressed_prev = gas_pressed;
+    }
+
+    // exit controls on rising edge of brake press
+    if (addr == 320) {
+      bool brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
+      if (brake_pressed && (!brake_pressed_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
+    }

    // check if stock camera ECU is on bus 0
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x292)) {
-      relay_malfunction = true;
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x292)) {
+      relay_malfunction_set();
    }
  }
  return valid;
@@ -8,7 +8,7 @@ int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 static void nooutput_init(int16_t param) {
  UNUSED(param);
  controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
 }

 static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -42,7 +42,7 @@ const safety_hooks nooutput_hooks = {
 static void alloutput_init(int16_t param) {
  UNUSED(param);
  controls_allowed = true;
-  relay_malfunction = false;
+  relay_malfunction_reset();
 }

 static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -7,14 +7,13 @@
 //      brake rising edge
 //      brake > 0mph

-int ford_brake_prev = 0;
-int ford_gas_prev = 0;
 bool ford_moving = false;

 static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  int addr = GET_ADDR(to_push);
  int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;

  if (addr == 0x217) {
    // wheel speeds are 14 bits every 16
@@ -39,24 +38,24 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  // exit controls on rising edge of brake press or on brake press when
  // speed > 0
  if (addr == 0x165) {
-    int brake = GET_BYTE(to_push, 0) & 0x20;
-    if (brake && (!(ford_brake_prev) || ford_moving)) {
+    int brake_pressed = GET_BYTE(to_push, 0) & 0x20;
+    if (brake_pressed && (!brake_pressed_prev || ford_moving)) {
      controls_allowed = 0;
    }
-    ford_brake_prev = brake;
+    brake_pressed_prev = brake_pressed;
  }

  // exit controls on rising edge of gas press
  if (addr == 0x204) {
-    int gas = (GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1);
-    if (gas && !(ford_gas_prev)) {
+    bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
+    if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
      controls_allowed = 0;
    }
-    ford_gas_prev = gas;
+    gas_pressed_prev = gas_pressed;
  }

  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x3CA)) {
-    relay_malfunction = true;
+    relay_malfunction_set();
  }
  return 1;
 }
@@ -74,7 +73,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

  // disallow actuator commands if gas or brake (with vehicle moving) are pressed
  // and the the latching controls_allowed flag is True
-  int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
+  int pedal_pressed = brake_pressed_prev && ford_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev;
+  }
  bool current_controls_allowed = controls_allowed && !(pedal_pressed);

  if (relay_malfunction) {
@@ -33,8 +33,6 @@ AddrCheckStruct gm_rx_checks[] = {
 };
 const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);

-int gm_brake_prev = 0;
-int gm_gas_prev = 0;
 bool gm_moving = false;
 int gm_rt_torque_last = 0;
 int gm_desired_torque_last = 0;
@@ -46,8 +44,9 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
                                 NULL, NULL, NULL);

-  if (valid) {
-    int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
+  if (valid && (GET_BUS(to_push) == 0)) {
    int addr = GET_ADDR(to_push);

    if (addr == 388) {
@@ -82,25 +81,22 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    // exit controls on rising edge of brake press or on brake press when
    // speed > 0
    if (addr == 241) {
-      int brake = GET_BYTE(to_push, 1);
      // Brake pedal's potentiometer returns near-zero reading
      // even when pedal is not pressed
-      if (brake < 10) {
-        brake = 0;
-      }
-      if (brake && (!gm_brake_prev || gm_moving)) {
+      bool brake_pressed = GET_BYTE(to_push, 1) >= 10;
+      if (brake_pressed && (!brake_pressed_prev || gm_moving)) {
         controls_allowed = 0;
      }
-      gm_brake_prev = brake;
+      brake_pressed_prev = brake_pressed;
    }

    // exit controls on rising edge of gas press
    if (addr == 417) {
-      int gas = GET_BYTE(to_push, 6);
-      if (gas && !gm_gas_prev) {
+      bool gas_pressed = GET_BYTE(to_push, 6) != 0;
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
        controls_allowed = 0;
      }
-      gm_gas_prev = gas;
+      gas_pressed_prev = gas_pressed;
    }

    // exit controls on regen paddle
@@ -115,8 +111,8 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    // on powertrain bus.
    // 384 = ASCMLKASteeringCmd
    // 715 = ASCMGasRegenCmd
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 384) || (addr == 715))) {
-      relay_malfunction = true;
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 384) || (addr == 715))) {
+      relay_malfunction_set();
    }
  }
  return valid;
@@ -144,7 +140,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

  // disallow actuator commands if gas or brake (with vehicle moving) are pressed
  // and the the latching controls_allowed flag is True
-  int pedal_pressed = gm_gas_prev || (gm_brake_prev && gm_moving);
+  int pedal_pressed = brake_pressed_prev && gm_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev;
+  }
  bool current_controls_allowed = controls_allowed && !pedal_pressed;

  // BRAKE: safety check
@@ -28,8 +28,6 @@ AddrCheckStruct honda_bh_rx_checks[] = {
 const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);

 int honda_brake = 0;
-int honda_gas_prev = 0;
-bool honda_brake_pressed_prev = false;
 bool honda_moving = false;
 bool honda_alt_brake_msg = false;
 bool honda_fwd_brake = false;
@@ -48,7 +46,7 @@ static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
  while (addr > 0U) {
    checksum += (addr & 0xFU); addr >>= 4;
  }
-  for (int j = 0; (j < len); j++) {
+  for (int j = 0; j < len; j++) {
    uint8_t byte = GET_BYTE(to_push, j);
    checksum += (byte & 0xFU) + (byte >> 4U);
    if (j == (len - 1)) {
@@ -74,6 +72,8 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
                              honda_get_checksum, honda_compute_checksum, honda_get_counter);
  }

+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
  if (valid) {
    int addr = GET_ADDR(to_push);
    int len = GET_LEN(to_push);
@@ -112,10 +112,10 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
    if (is_user_brake_msg) {
      bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
-      if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
+      if (brake_pressed && (!brake_pressed_prev || honda_moving)) {
        controls_allowed = 0;
      }
-      honda_brake_pressed_prev = brake_pressed;
+      brake_pressed_prev = brake_pressed;
    }

    // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
@@ -123,9 +123,9 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    if ((addr == 0x201) && (len == 6)) {
      gas_interceptor_detected = 1;
      int gas_interceptor = GET_INTERCEPTOR(to_push);
-      if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
+      if (!unsafe_allow_gas && (gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
          (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
-        controls_allowed = 1;
+        controls_allowed = 0;
      }
      gas_interceptor_prev = gas_interceptor;
    }
@@ -133,25 +133,29 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    // exit controls on rising edge of gas press if no interceptor
    if (!gas_interceptor_detected) {
      if (addr == 0x17C) {
-        int gas = GET_BYTE(to_push, 0);
-        if (gas && !honda_gas_prev) {
-          controls_allowed = 1;
+        bool gas_pressed = GET_BYTE(to_push, 0) != 0;
+        if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
+          controls_allowed = 0;
        }
-        honda_gas_prev = gas;
+        gas_pressed_prev = gas_pressed;
      }
    }
-    if ((bus == 2) && (addr == 0x1FA)) {
-      bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
-      int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);

-      // Forward AEB when stock braking is higher than openpilot braking
-      // only stop forwarding when AEB event is over
-      if (!honda_stock_aeb) {
-        honda_fwd_brake = false;
-      } else if (honda_stock_brake >= honda_brake) {
-        honda_fwd_brake = true;
-      } else {
-        // Leave Honda forward brake as is
+    // disable stock Honda AEB in unsafe mode
+    if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
+      if ((bus == 2) && (addr == 0x1FA)) {
+        bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
+        int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
+
+        // Forward AEB when stock braking is higher than openpilot braking
+        // only stop forwarding when AEB event is over
+        if (!honda_stock_aeb) {
+          honda_fwd_brake = false;
+        } else if (honda_stock_brake >= honda_brake) {
+          honda_fwd_brake = true;
+        } else {
+          // Leave Honda forward brake as is
+        }
      }
    }

@@ -161,7 +165,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
      if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) ||
        ((honda_hw == HONDA_N_HW) && (bus == 0))) {
-        relay_malfunction = true;
+        relay_malfunction_set();
      }
    }
  }
@@ -194,9 +198,11 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

  // disallow actuator commands if gas or brake (with vehicle moving) are pressed
  // and the the latching controls_allowed flag is True
-  //int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-  //                    (honda_brake_pressed_prev && honda_moving);
-  int pedal_pressed = honda_brake_pressed_prev && honda_moving;
+  int pedal_pressed = brake_pressed_prev && honda_moving;
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+  if (!unsafe_allow_gas) {
+    pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
+  }
  bool current_controls_allowed = controls_allowed && !(pedal_pressed);

  // BRAKE: safety check
@@ -251,14 +257,14 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static void honda_nidec_init(int16_t param) {
  UNUSED(param);
  controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
  honda_hw = HONDA_N_HW;
  honda_alt_brake_msg = false;
 }

 static void honda_bosch_giraffe_init(int16_t param) {
  controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
  honda_hw = HONDA_BG_HW;
  // Checking for alternate brake override from safety parameter
  honda_alt_brake_msg = (param == 1) ? true : false;
@@ -266,7 +272,7 @@ static void honda_bosch_giraffe_init(int16_t param) {

 static void honda_bosch_harness_init(int16_t param) {
  controls_allowed = false;
-  relay_malfunction = false;
+  relay_malfunction_reset();
  honda_hw = HONDA_BH_HW;
  // Checking for alternate brake override from safety parameter
  honda_alt_brake_msg = (param == 1) ? true : false;
@@ -1,15 +1,19 @@
 const int HYUNDAI_MAX_STEER = 255;             // like stock
 const int HYUNDAI_MAX_RT_DELTA = 112;          // max delta torque allowed for real time checks
-const uint32_t HYUNDAI_RT_INTERVAL = 250000;    // 250ms between real time checks
+const uint32_t HYUNDAI_RT_INTERVAL = 250000;   // 250ms between real time checks
 const int HYUNDAI_MAX_RATE_UP = 3;
 const int HYUNDAI_MAX_RATE_DOWN = 7;
 const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
 const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
+const int HYUNDAI_STANDSTILL_THRSLD = 30;  // ~1kph
 const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}};

 // TODO: do checksum and counter checks
 AddrCheckStruct hyundai_rx_checks[] = {
+  {.addr = {608}, .bus = 0, .expected_timestep = 10000U},
  {.addr = {897}, .bus = 0, .expected_timestep = 10000U},
+  {.addr = {902}, .bus = 0, .expected_timestep = 10000U},
+  {.addr = {916}, .bus = 0, .expected_timestep = 10000U},
  {.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
 };
 const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);
@@ -17,6 +21,7 @@ const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_c
 int hyundai_rt_torque_last = 0;
 int hyundai_desired_torque_last = 0;
 int hyundai_cruise_engaged_last = 0;
+int hyundai_speed = 0;
 uint32_t hyundai_ts_last = 0;
 struct sample_t hyundai_torque_driver;         // last few driver torques measured

@@ -25,8 +30,9 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
                                 NULL, NULL, NULL);

-  if (valid) {
-    int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
+  if (valid && GET_BUS(to_push) == 0) {
    int addr = GET_ADDR(to_push);

    if (addr == 897) {
@@ -48,11 +54,34 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
      hyundai_cruise_engaged_last = cruise_engaged;
    }

-    // TODO: check gas pressed
+    // exit controls on rising edge of gas press
+    if (addr == 608) {
+      bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
+        controls_allowed = 0;
+      }
+      gas_pressed_prev = gas_pressed;
+    }
+
+    // sample subaru wheel speed, averaging opposite corners
+    if (addr == 902) {
+      hyundai_speed = GET_BYTES_04(to_push) & 0x3FFF;  // FL
+      hyundai_speed += (GET_BYTES_48(to_push) >> 16) & 0x3FFF;  // RL
+      hyundai_speed /= 2;
+    }
+
+    // exit controls on rising edge of brake press
+    if (addr == 916) {
+      bool brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
+      if (brake_pressed && (!brake_pressed_prev || (hyundai_speed > HYUNDAI_STANDSTILL_THRSLD))) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
+    }

    // check if stock camera ECU is on bus 0
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 832)) {
-      relay_malfunction = true;
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 832)) {
+      relay_malfunction_set();
    }
  }
  return valid;
@@ -55,7 +55,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  // if we see wheel speed msgs on MAZDA_CAM bus then relay is closed
  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == MAZDA_CAM) && (addr == MAZDA_WHEEL_SPEED)) {
-    relay_malfunction = true;
+    relay_malfunction_set();
  }
  return 1;
 }
@@ -0,0 +1,221 @@
+
+const uint32_t NISSAN_RT_INTERVAL = 250000;    // 250ms between real time checks
+
+const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_UP = {
+  {2., 7., 17.},
+  {5., .8, .15}};
+
+const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
+  {2., 7., 17.},
+  {5., 3.5, .5}};
+
+const int NISSAN_DEG_TO_CAN = 100;
+
+const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}, {0x280, 2}};
+
+AddrCheckStruct nissan_rx_checks[] = {
+  {.addr = {0x2}, .bus = 0, .expected_timestep = 10000U},  // STEER_ANGLE_SENSOR (100Hz)
+  {.addr = {0x285}, .bus = 0, .expected_timestep = 20000U}, // WHEEL_SPEEDS_REAR (50Hz)
+  {.addr = {0x30f}, .bus = 2, .expected_timestep = 100000U}, // CRUISE_STATE (10Hz)
+  {.addr = {0x15c, 0x239}, .bus = 0, .expected_timestep = 20000U}, // GAS_PEDAL (100Hz / 50Hz)
+  {.addr = {0x454, 0x1cc}, .bus = 0, .expected_timestep = 100000U}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
+};
+const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);
+
+float nissan_speed = 0;
+//int nissan_controls_allowed_last = 0;
+uint32_t nissan_ts_angle_last = 0;
+int nissan_cruise_engaged_last = 0;
+int nissan_desired_angle_last = 0;
+
+struct sample_t nissan_angle_meas;            // last 3 steer angles
+
+
+static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, nissan_rx_checks, NISSAN_RX_CHECK_LEN,
+                                 NULL, NULL, NULL);
+
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
+  if (valid) {
+    int bus = GET_BUS(to_push);
+    int addr = GET_ADDR(to_push);
+
+    if (bus == 0) {
+      if (addr == 0x2) {
+        // Current steering angle
+        // Factor -0.1, little endian
+        int angle_meas_new = (GET_BYTES_04(to_push) & 0xFFFF);
+        // Need to multiply by 10 here as LKAS and Steering wheel are different base unit
+        angle_meas_new = to_signed(angle_meas_new, 16) * 10;
+
+        // update array of samples
+        update_sample(&nissan_angle_meas, angle_meas_new);
+      }
+
+      if (addr == 0x285) {
+        // Get current speed
+        // Factor 0.005
+        nissan_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.005 / 3.6;
+      }
+
+      // exit controls on rising edge of gas press
+      // X-Trail 0x15c, Leaf 0x239
+      if ((addr == 0x15c) || (addr == 0x239)) {
+        bool gas_pressed = true;
+        if (addr == 0x15c){
+          gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 1;
+        } else {
+          gas_pressed = GET_BYTE(to_push, 0) > 3;
+        }
+
+        if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
+          controls_allowed = 0;
+        }
+        gas_pressed_prev = gas_pressed;
+      }
+
+      // 0x169 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
+      if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x169)) {
+        relay_malfunction_set();
+      }
+    }
+
+    // exit controls on rising edge of brake press, or if speed > 0 and brake
+    // X-trail 0x454, Leaf  0x1cc
+    if ((addr == 0x454) || (addr == 0x1cc)) {
+      bool brake_pressed = true;
+      if (addr == 0x454){
+        brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
+      } else {
+        brake_pressed = GET_BYTE(to_push, 0) > 3;
+      }
+
+      if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
+    }
+
+
+    // Handle cruise enabled
+    if ((bus == 2) && (addr == 0x30f)) {
+      bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
+
+      if (cruise_engaged && !nissan_cruise_engaged_last) {
+        controls_allowed = 1;
+      }
+      if (!cruise_engaged) {
+        controls_allowed = 0;
+      }
+      nissan_cruise_engaged_last = cruise_engaged;
+    }
+  }
+  return valid;
+}
+
+
+static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  int tx = 1;
+  int addr = GET_ADDR(to_send);
+  int bus = GET_BUS(to_send);
+  bool violation = 0;
+
+  if (!msg_allowed(addr, bus, NISSAN_TX_MSGS, sizeof(NISSAN_TX_MSGS) / sizeof(NISSAN_TX_MSGS[0]))) {
+    tx = 0;
+  }
+
+  if (relay_malfunction) {
+    tx = 0;
+  }
+
+  // steer cmd checks
+  if (addr == 0x169) {
+    int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3));
+    bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1;
+
+    // offeset 1310 * NISSAN_DEG_TO_CAN
+    desired_angle =  desired_angle - 131000;
+
+    if (controls_allowed && lka_active) {
+      // add 1 to not false trigger the violation
+      float delta_angle_float;
+      delta_angle_float = (interpolate(NISSAN_LOOKUP_ANGLE_RATE_UP, nissan_speed) * NISSAN_DEG_TO_CAN) + 1.;
+      int delta_angle_up = (int)(delta_angle_float);
+      delta_angle_float =  (interpolate(NISSAN_LOOKUP_ANGLE_RATE_DOWN, nissan_speed) * NISSAN_DEG_TO_CAN) + 1.;
+      int delta_angle_down = (int)(delta_angle_float);
+      int highest_desired_angle = nissan_desired_angle_last + ((nissan_desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
+      int lowest_desired_angle = nissan_desired_angle_last - ((nissan_desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
+
+      // check for violation;
+      violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
+
+      //nissan_controls_allowed_last = controls_allowed;
+    }
+    nissan_desired_angle_last = desired_angle;
+
+    // desired steer angle should be the same as steer angle measured when controls are off
+    if ((!controls_allowed) &&
+          ((desired_angle < (nissan_angle_meas.min - 1)) ||
+          (desired_angle > (nissan_angle_meas.max + 1)))) {
+      violation = 1;
+    }
+
+    // no lka_enabled bit if controls not allowed
+    if (!controls_allowed && lka_active) {
+      violation = 1;
+    }
+  }
+
+  // acc button check, only allow cancel button to be sent
+  if (addr == 0x20b) {
+    // Violation of any button other than cancel is pressed
+    violation |= ((GET_BYTE(to_send, 1) & 0x3d) > 0);
+  }
+
+  if (violation) {
+    controls_allowed = 0;
+    tx = 0;
+  }
+
+  return tx;
+}
+
+
+static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
+  int bus_fwd = -1;
+  int addr = GET_ADDR(to_fwd);
+
+  if (bus_num == 0) {
+    int block_msg = (addr == 0x280); // CANCEL_MSG
+    if (!block_msg) {
+      bus_fwd = 2;  // ADAS
+    }
+  }
+
+  if (bus_num == 2) {
+    // 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG
+    int block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc));
+    if (!block_msg) {
+      bus_fwd = 0;  // V-CAN
+    }
+  }
+
+  if (relay_malfunction) {
+    bus_fwd = -1;
+  }
+
+  // fallback to do not forward
+  return bus_fwd;
+}
+
+const safety_hooks nissan_hooks = {
+  .init = nooutput_init,
+  .rx = nissan_rx_hook,
+  .tx = nissan_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = nissan_fwd_hook,
+  .addr_check = nissan_rx_checks,
+  .addr_check_len = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]),
+};
@@ -7,42 +7,86 @@ const int SUBARU_MAX_RATE_UP = 50;
 const int SUBARU_MAX_RATE_DOWN = 70;
 const int SUBARU_DRIVER_TORQUE_ALLOWANCE = 60;
 const int SUBARU_DRIVER_TORQUE_FACTOR = 10;
+const int SUBARU_STANDSTILL_THRSLD = 20;  // about 1kph

-const AddrBus SUBARU_TX_MSGS[] = {{0x122, 0}, {0x164, 0}, {0x221, 0}, {0x322, 0}};
+const AddrBus SUBARU_TX_MSGS[] = {{0x122, 0}, {0x221, 0}, {0x322, 0}};
+const AddrBus SUBARU_L_TX_MSGS[] = {{0x164, 0}, {0x221, 0}, {0x322, 0}};
+const int SUBARU_TX_MSGS_LEN = sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]);
+const int SUBARU_L_TX_MSGS_LEN = sizeof(SUBARU_L_TX_MSGS) / sizeof(SUBARU_L_TX_MSGS[0]);

-// TODO: do checksum and counter checks after adding the signals to the outback dbc file
 AddrCheckStruct subaru_rx_checks[] = {
-  {.addr = {0x119, 0x371}, .bus = 0, .expected_timestep = 20000U},
-  {.addr = {0x240, 0x144}, .bus = 0, .expected_timestep = 50000U},
+  {.addr = { 0x40}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
+  {.addr = {0x119}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
+  {.addr = {0x139}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
+  {.addr = {0x13a}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U},
+  {.addr = {0x240}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 50000U},
+};
+// TODO: do checksum and counter checks after adding the signals to the outback dbc file
+AddrCheckStruct subaru_l_rx_checks[] = {
+  {.addr = {0x140}, .bus = 0, .expected_timestep = 10000U},
+  {.addr = {0x371}, .bus = 0, .expected_timestep = 20000U},
+  {.addr = {0x144}, .bus = 0, .expected_timestep = 50000U},
 };
 const int SUBARU_RX_CHECK_LEN = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]);
+const int SUBARU_L_RX_CHECK_LEN = sizeof(subaru_l_rx_checks) / sizeof(subaru_l_rx_checks[0]);

 int subaru_cruise_engaged_last = 0;
 int subaru_rt_torque_last = 0;
 int subaru_desired_torque_last = 0;
+int subaru_speed = 0;
 uint32_t subaru_ts_last = 0;
+bool subaru_global = false;
 struct sample_t subaru_torque_driver;         // last few driver torques measured

+static uint8_t subaru_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  return (uint8_t)GET_BYTE(to_push, 0);
+}
+
+static uint8_t subaru_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  return (uint8_t)(GET_BYTE(to_push, 1) & 0xF);
+}
+
+static uint8_t subaru_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  int addr = GET_ADDR(to_push);
+  int len = GET_LEN(to_push);
+  uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U);
+  for (int i = 1; i < len; i++) {
+    checksum += (uint8_t)GET_BYTE(to_push, i);
+  }
+  return checksum;
+}
+
 static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

-  bool valid = addr_safety_check(to_push, subaru_rx_checks, SUBARU_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+  bool valid = false;
+  if (subaru_global) {
+    valid = addr_safety_check(to_push, subaru_rx_checks, SUBARU_RX_CHECK_LEN,
+                              subaru_get_checksum, subaru_compute_checksum, subaru_get_counter);
+  } else {
+    valid = addr_safety_check(to_push, subaru_l_rx_checks, SUBARU_L_RX_CHECK_LEN,
+                              NULL, NULL, NULL);
+  }

-  if (valid) {
-    int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
+  if (valid && (GET_BUS(to_push) == 0)) {
    int addr = GET_ADDR(to_push);
-
-    if (((addr == 0x119) || (addr == 0x371)) && (bus == 0)){
-      int bit_shift = (addr == 0x119) ? 16 : 29;
-      int torque_driver_new = ((GET_BYTES_04(to_push) >> bit_shift) & 0x7FF);
+    if (((addr == 0x119) && subaru_global) ||
+        ((addr == 0x371) && !subaru_global)) {
+      int torque_driver_new;
+      if (subaru_global) {
+        torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
+      } else {
+        torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
+      }
      torque_driver_new = to_signed(torque_driver_new, 11);
-      // update array of samples
      update_sample(&subaru_torque_driver, torque_driver_new);
    }

    // enter controls on rising edge of ACC, exit controls on ACC off
-    if (((addr == 0x240) || (addr == 0x144)) && (bus == 0)) {
-      int bit_shift = (addr == 0x240) ? 9 : 17;
+    if (((addr == 0x240) && subaru_global) ||
+        ((addr == 0x144) && !subaru_global)) {
+      int bit_shift = subaru_global ? 9 : 17;
      int cruise_engaged = ((GET_BYTES_48(to_push) >> bit_shift) & 1);
      if (cruise_engaged && !subaru_cruise_engaged_last) {
        controls_allowed = 1;
@@ -53,10 +97,36 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
      subaru_cruise_engaged_last = cruise_engaged;
    }

-    // TODO: enforce cancellation on gas pressed
+    // sample subaru wheel speed, averaging opposite corners
+    if ((addr == 0x13a) && subaru_global) {
+      subaru_speed = (GET_BYTES_04(to_push) >> 12) & 0x1FFF;  // FR
+      subaru_speed += (GET_BYTES_48(to_push) >> 6) & 0x1FFF;  // RL
+      subaru_speed /= 2;
+    }

-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
-      relay_malfunction = true;
+    // exit controls on rising edge of brake press (TODO: missing check for unsupported legacy models)
+    if ((addr == 0x139) && subaru_global) {
+      bool brake_pressed = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
+      if (brake_pressed && (!brake_pressed_prev || (subaru_speed > SUBARU_STANDSTILL_THRSLD))) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
+    }
+
+    // exit controls on rising edge of gas press
+    if (((addr == 0x40) && subaru_global) ||
+        ((addr == 0x140) && !subaru_global)) {
+      int byte = subaru_global ? 4 : 0;
+      bool gas_pressed = GET_BYTE(to_push, byte) != 0;
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
+        controls_allowed = 0;
+      }
+      gas_pressed_prev = gas_pressed;
+    }
+
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) &&
+        (((addr == 0x122) && subaru_global) || ((addr == 0x164) && !subaru_global))) {
+      relay_malfunction_set();
    }
  }
  return valid;
@@ -67,7 +137,8 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);

-  if (!msg_allowed(addr, bus, SUBARU_TX_MSGS, sizeof(SUBARU_TX_MSGS) / sizeof(SUBARU_TX_MSGS[0]))) {
+  if ((!msg_allowed(addr, bus, SUBARU_TX_MSGS, SUBARU_TX_MSGS_LEN) && subaru_global) ||
+      (!msg_allowed(addr, bus, SUBARU_L_TX_MSGS, SUBARU_L_TX_MSGS_LEN) && !subaru_global)) {
    tx = 0;
  }

@@ -76,8 +147,9 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  }

  // steer cmd checks
-  if ((addr == 0x122) || (addr == 0x164)) {
-    int bit_shift = (addr == 0x122) ? 16 : 8;
+  if (((addr == 0x122) && subaru_global) ||
+      ((addr == 0x164) && !subaru_global)) {
+    int bit_shift = subaru_global ? 16 : 8;
    int desired_torque = ((GET_BYTES_04(to_send) >> bit_shift) & 0x1FFF);
    bool violation = 0;
    uint32_t ts = TIM2->CNT;
@@ -141,7 +213,9 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
      // 545 is ES_Distance
      // 802 is ES_LKAS
      int addr = GET_ADDR(to_fwd);
-      int block_msg = (addr == 290) || (addr == 356) || (addr == 545) || (addr == 802);
+      int block_msg = ((addr == 0x122) && subaru_global) ||
+                      ((addr == 0x164) && !subaru_global) ||
+                      (addr == 0x221) || (addr == 0x322);
      if (!block_msg) {
        bus_fwd = 0;  // Main CAN
      }
@@ -151,8 +225,22 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  return bus_fwd;
 }

+static void subaru_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = false;
+  relay_malfunction_reset();
+  subaru_global = true;
+}
+
+static void subaru_legacy_init(int16_t param) {
+  UNUSED(param);
+  controls_allowed = false;
+  relay_malfunction_reset();
+  subaru_global = false;
+}
+
 const safety_hooks subaru_hooks = {
-  .init = nooutput_init,
+  .init = subaru_init,
  .rx = subaru_rx_hook,
  .tx = subaru_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
@@ -160,3 +248,13 @@ const safety_hooks subaru_hooks = {
  .addr_check = subaru_rx_checks,
  .addr_check_len = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]),
 };
+
+const safety_hooks subaru_legacy_hooks = {
+  .init = subaru_legacy_init,
+  .rx = subaru_rx_hook,
+  .tx = subaru_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = subaru_fwd_hook,
+  .addr_check = subaru_l_rx_checks,
+  .addr_check_len = sizeof(subaru_l_rx_checks) / sizeof(subaru_l_rx_checks[0]),
+};
@@ -34,8 +34,6 @@ float tesla_ts_angle_last = 0;

 int tesla_controls_allowed_last = 0;

-int tesla_brake_prev = 0;
-int tesla_gas_prev = 0;
 int tesla_speed = 0;
 int eac_status = 0;

@@ -4,8 +4,8 @@ const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
 const int TOYOTA_MAX_RATE_UP = 10;        // ramp up slow
-const int TOYOTA_MAX_RATE_DOWN = 44;      // ramp down fast
-const int TOYOTA_MAX_TORQUE_ERROR = 500;  // max torque cmd in excess of torque motor
+const int TOYOTA_MAX_RATE_DOWN = 25;      // ramp down fast
+const int TOYOTA_MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor

 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
@@ -13,10 +13,14 @@ const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real t
 const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks

 // longitudinal limits
-const int TOYOTA_MAX_ACCEL = 4000;        // 1.5 m/s2
-const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2
+const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
+const int TOYOTA_MIN_ACCEL = -3000;       // -3.0 m/s2

-const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and gain from dbc file
+const int TOYOTA_ISO_MAX_ACCEL = 2000;        // 2.0 m/s2
+const int TOYOTA_ISO_MIN_ACCEL = -3500;       // -3.5 m/s2
+
+const int TOYOTA_STANDSTILL_THRSLD = 100;  // 1kph
+const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 475;  // ratio between offset and gain from dbc file

 const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}, {0x344, 0}, {0x365, 0}, {0x366, 0}, {0x4CB, 0},  // DSU bus 0
                                  {0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1},  // DSU bus 1
@@ -24,8 +28,10 @@ const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}
                                  {0x200, 0}, {0x750, 0}};  // interceptor + Blindspot monitor

 AddrCheckStruct toyota_rx_checks[] = {
-  {.addr = {0x260}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 20000U},
-  {.addr = {0x1D2}, .bus = 0, .check_checksum = true, .max_counter = 0U, .expected_timestep = 30000U},
+  {.addr = { 0xaa}, .bus = 0, .check_checksum = false, .expected_timestep = 12000U},
+  {.addr = {0x260}, .bus = 0, .check_checksum = true, .expected_timestep = 20000U},
+  {.addr = {0x1D2}, .bus = 0, .check_checksum = true, .expected_timestep = 30000U},
+  {.addr = {0x224, 0x226}, .bus = 0, .check_checksum = false, .expected_timestep = 25000U},
 };
 const int TOYOTA_RX_CHECKS_LEN = sizeof(toyota_rx_checks) / sizeof(toyota_rx_checks[0]);

@@ -37,7 +43,7 @@ int toyota_desired_torque_last = 0;       // last desired steer torque
 int toyota_rt_torque_last = 0;            // last desired torque for real time check
 uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
-int toyota_gas_prev = 0;
+bool toyota_moving = false;
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps


@@ -60,8 +66,9 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  bool valid = addr_safety_check(to_push, toyota_rx_checks, TOYOTA_RX_CHECKS_LEN,
                                 toyota_get_checksum, toyota_compute_checksum, NULL);
-  if (valid) {
-    int bus = GET_BUS(to_push);
+  bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
+
+  if (valid && (GET_BUS(to_push) == 0)) {
    int addr = GET_ADDR(to_push);

    // get eps motor torque (0.66 factor in dbc)
@@ -81,41 +88,62 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    }

    // enter controls on rising edge of ACC, exit controls on ACC off
+    // exit controls on rising edge of gas press
    if (addr == 0x1D2) {
      // 5th bit is CRUISE_ACTIVE
      int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
      if (!cruise_engaged) {
-        controls_allowed = 1;
+        controls_allowed = 0;
      }
      if (cruise_engaged && !toyota_cruise_engaged_last) {
        controls_allowed = 1;
      }
      toyota_cruise_engaged_last = cruise_engaged;
+
+      // handle gas_pressed
+      bool gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
+        controls_allowed = 0;
+      }
+      gas_pressed_prev = gas_pressed;
+    }
+
+    // sample speed
+    if (addr == 0xaa) {
+      int speed = 0;
+      // sum 4 wheel speeds
+      for (int i=0; i<8; i+=2) {
+        int next_byte = i + 1;  // hack to deal with misra 10.8
+        speed += (GET_BYTE(to_push, i) << 8) + GET_BYTE(to_push, next_byte) - 0x1a6f;
+      }
+      toyota_moving = ABS(speed / 4) > TOYOTA_STANDSTILL_THRSLD;
+    }
+
+    // exit controls on rising edge of brake pedal
+    // most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
+    if ((addr == 0x224) || (addr == 0x226)) {
+      int byte = (addr == 0x224) ? 0 : 4;
+      bool brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
+      if (brake_pressed && (!brake_pressed_prev || toyota_moving)) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
    }

    // exit controls on rising edge of interceptor gas press
    if (addr == 0x201) {
      gas_interceptor_detected = 1;
      int gas_interceptor = GET_INTERCEPTOR(to_push);
-      if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
-          (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD)) {
-        controls_allowed = 1;
+      if (!unsafe_allow_gas && (gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
+          (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRSLD)) {
+        controls_allowed = 0;
      }
      gas_interceptor_prev = gas_interceptor;
    }

-    // exit controls on rising edge of gas press
-    if (addr == 0x2C1) {
-      int gas = GET_BYTE(to_push, 6) & 0xFF;
-      if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected) {
-        controls_allowed = 1;
-      }
-      toyota_gas_prev = gas;
-    }
-
    // 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
-    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x2E4) && (bus == 0)) {
-      relay_malfunction = true;
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x2E4)) {
+      relay_malfunction_set();
    }
  }
  return valid;
@@ -156,7 +184,10 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
          tx = 0;
        }
      }
-      bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
+      bool violation = (unsafe_mode & UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)?
+        max_limit_check(desired_accel, TOYOTA_ISO_MAX_ACCEL, TOYOTA_ISO_MIN_ACCEL) :
+        max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
+        
      if (violation) {
        tx = 0;
      }
@@ -216,7 +247,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

 static void toyota_init(int16_t param) {
  controls_allowed = 0;
-  relay_malfunction = 0;
+  relay_malfunction_reset();
  toyota_dbc_eps_torque_factor = param;
 }

@@ -1,169 +0,0 @@
-// uses tons from safety_toyota
-// TODO: refactor to repeat less code
-
-// IPAS override
-const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200;  // disallow controls when user torque exceeds this value
-
-// 2m/s are added to be less restrictive
-const struct lookup_t LOOKUP_ANGLE_RATE_UP = {
-  {2., 7., 17.},
-  {5., .8, .15}};
-
-const struct lookup_t LOOKUP_ANGLE_RATE_DOWN = {
-  {2., 7., 17.},
-  {5., 3.5, .4}};
-
-const float RT_ANGLE_FUDGE = 1.5;     // for RT checks allow 50% more angle change
-const float CAN_TO_DEG = 2. / 3.;      // convert angles from CAN unit to degrees
-
-int ipas_state = 1;                    // 1 disabled, 3 executing angle control, 5 override
-int angle_control = 0;                 // 1 if direct angle control packets are seen
-float speed = 0.;
-
-struct sample_t angle_meas;            // last 3 steer angles
-struct sample_t torque_driver;         // last 3 driver steering torque
-
-// state of angle limits
-int16_t desired_angle_last = 0;        // last desired steer angle
-int16_t rt_angle_last = 0;             // last desired torque for real time check
-uint32_t ts_angle_last = 0;
-
-int controls_allowed_last = 0;
-
-
-static int toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-  // check standard toyota stuff as well
-  bool valid = toyota_rx_hook(to_push);
-
-  int addr = GET_ADDR(to_push);
-
-  if (addr == 0x260) {
-    // get driver steering torque
-    int16_t torque_driver_new = (GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 2);
-
-    // update array of samples
-    update_sample(&torque_driver, torque_driver_new);
-  }
-
-  // get steer angle
-  if (addr == 0x25) {
-    int angle_meas_new = ((GET_BYTE(to_push, 0) & 0xF) << 8) | GET_BYTE(to_push, 1);
-    uint32_t ts = TIM2->CNT;
-
-    angle_meas_new = to_signed(angle_meas_new, 12);
-
-    // update array of samples
-    update_sample(&angle_meas, angle_meas_new);
-
-    // *** angle real time check
-    // add 1 to not false trigger the violation and multiply by 20 since the check is done every 250ms and steer angle is updated at 80Hz
-    int rt_delta_angle_up = ((int)(RT_ANGLE_FUDGE * ((interpolate(LOOKUP_ANGLE_RATE_UP, speed) * 20. * CAN_TO_DEG) + 1.)));
-    int rt_delta_angle_down = ((int)(RT_ANGLE_FUDGE * ((interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * 20. * CAN_TO_DEG) + 1.)));
-    int highest_rt_angle = rt_angle_last + ((rt_angle_last > 0) ? rt_delta_angle_up : rt_delta_angle_down);
-    int lowest_rt_angle = rt_angle_last - ((rt_angle_last > 0) ? rt_delta_angle_down : rt_delta_angle_up);
-
-    // every RT_INTERVAL or when controls are turned on, set the new limits
-    uint32_t ts_elapsed = get_ts_elapsed(ts, ts_angle_last);
-    if ((ts_elapsed > TOYOTA_RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
-      rt_angle_last = angle_meas_new;
-      ts_angle_last = ts;
-    }
-
-    // check for violation
-    if (angle_control &&
-        ((angle_meas_new < lowest_rt_angle) ||
-         (angle_meas_new > highest_rt_angle))) {
-      controls_allowed = 0;
-    }
-
-    controls_allowed_last = controls_allowed;
-  }
-
-  // get speed
-  if (addr == 0xb4) {
-    speed = ((float)((GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6))) * 0.01 / 3.6;
-  }
-
-  // get ipas state
-  if (addr == 0x262) {
-    ipas_state = GET_BYTE(to_push, 0) & 0xf;
-  }
-
-  // exit controls on high steering override
-  if (angle_control && ((torque_driver.min > TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
-                        (torque_driver.max < -TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
-                        (ipas_state==5))) {
-    controls_allowed = 0;
-  }
-  return valid;
-}
-
-static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
-
-  int tx = 1;
-  int bypass_standard_tx_hook = 0;
-  int bus = GET_BUS(to_send);
-  int addr = GET_ADDR(to_send);
-
-  // Check if msg is sent on BUS 0
-  if (bus == 0) {
-
-    // STEER ANGLE
-    if ((addr == 0x266) || (addr == 0x167)) {
-
-      angle_control = 1;   // we are in angle control mode
-      int desired_angle = ((GET_BYTE(to_send, 0) & 0xF) << 8) | GET_BYTE(to_send, 1);
-      int ipas_state_cmd = GET_BYTE(to_send, 0) >> 4;
-      bool violation = 0;
-
-      desired_angle = to_signed(desired_angle, 12);
-
-      if (controls_allowed) {
-        // add 1 to not false trigger the violation
-        float delta_angle_float;
-        delta_angle_float = (interpolate(LOOKUP_ANGLE_RATE_UP, speed) * CAN_TO_DEG) + 1.;
-        int delta_angle_up = (int) (delta_angle_float);
-        delta_angle_float = (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * CAN_TO_DEG) + 1.;
-        int delta_angle_down = (int) (delta_angle_float);
-
-        int highest_desired_angle = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
-        int lowest_desired_angle = desired_angle_last - ((desired_angle_last > 0) ? delta_angle_down : delta_angle_up);
-        if ((desired_angle > highest_desired_angle) ||
-            (desired_angle < lowest_desired_angle)){
-          violation = 1;
-          controls_allowed = 0;
-        }
-      }
-
-      // desired steer angle should be the same as steer angle measured when controls are off
-      if ((!controls_allowed) &&
-           ((desired_angle < (angle_meas.min - 1)) ||
-            (desired_angle > (angle_meas.max + 1)) ||
-            (ipas_state_cmd != 1))) {
-        violation = 1;
-      }
-
-      desired_angle_last = desired_angle;
-
-      if (violation) {
-        tx = 0;
-      }
-      bypass_standard_tx_hook = 1;
-    }
-  }
-
-  // check standard toyota stuff as well if addr isn't IPAS related
-  if (!bypass_standard_tx_hook) {
-    tx &= toyota_tx_hook(to_send);
-  }
-
-  return tx;
-}
-
-const safety_hooks toyota_ipas_hooks = {
-  .init = toyota_init,
-  .rx = toyota_ipas_rx_hook,
-  .tx = toyota_ipas_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .fwd = toyota_fwd_hook,
-};
@@ -1,142 +1,339 @@
-// Safety-relevant CAN messages for the Volkswagen MQB platform.
-#define MSG_EPS_01              0x09F
-#define MSG_MOTOR_20            0x121
-#define MSG_ACC_06              0x122
-#define MSG_HCA_01              0x126
-#define MSG_GRA_ACC_01          0x12B
-#define MSG_LDW_02              0x397
-
-const int VOLKSWAGEN_MAX_STEER = 250;               // 2.5 Nm (EPS side max of 3.0Nm with fault if violated)
+// Safety-relevant steering constants for Volkswagen
+const int VOLKSWAGEN_MAX_STEER = 300;               // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
 const int VOLKSWAGEN_MAX_RT_DELTA = 75;             // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
 const uint32_t VOLKSWAGEN_RT_INTERVAL = 250000;     // 250ms between real time checks
-const int VOLKSWAGEN_MAX_RATE_UP = 4;               // 2.0 Nm/s available rate of change from the steering rack (EPS side delta-limit of 5.0 Nm/s)
-const int VOLKSWAGEN_MAX_RATE_DOWN = 10;            // 5.0 Nm/s available rate of change from the steering rack (EPS side delta-limit of 5.0 Nm/s)
+const int VOLKSWAGEN_MAX_RATE_UP = 4;               // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
+const int VOLKSWAGEN_MAX_RATE_DOWN = 10;            // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
 const int VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE = 80;
 const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;

-// MSG_GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
-const AddrBus VOLKSWAGEN_TX_MSGS[] = {{MSG_HCA_01, 0}, {MSG_GRA_ACC_01, 0}, {MSG_GRA_ACC_01, 2}, {MSG_LDW_02, 0}};
+// Safety-relevant CAN messages for the Volkswagen MQB platform
+#define MSG_ESP_19      0x0B2   // RX from ABS, for wheel speeds
+#define MSG_EPS_01      0x09F   // RX from EPS, for driver steering torque
+#define MSG_ESP_05      0x106   // RX from ABS, for brake switch state
+#define MSG_TSK_06      0x120   // RX from ECU, for ACC status from drivetrain coordinator
+#define MSG_MOTOR_20    0x121   // RX from ECU, for driver throttle input
+#define MSG_HCA_01      0x126   // TX by OP, Heading Control Assist steering torque
+#define MSG_GRA_ACC_01  0x12B   // TX by OP, ACC control buttons for cancel/resume
+#define MSG_LDW_02      0x397   // TX by OP, Lane line recognition and text alerts

-// TODO: do checksum and counter checks
-AddrCheckStruct volkswagen_rx_checks[] = {
-  {.addr = {MSG_EPS_01}, .bus = 0, .expected_timestep = 10000U},
-  {.addr = {MSG_ACC_06}, .bus = 0, .expected_timestep = 20000U},
-  {.addr = {MSG_MOTOR_20}, .bus = 0, .expected_timestep = 20000U},
+// Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+const AddrBus VOLKSWAGEN_MQB_TX_MSGS[] = {{MSG_HCA_01, 0}, {MSG_GRA_ACC_01, 0}, {MSG_GRA_ACC_01, 2}, {MSG_LDW_02, 0}};
+const int VOLKSWAGEN_MQB_TX_MSGS_LEN = sizeof(VOLKSWAGEN_MQB_TX_MSGS) / sizeof(VOLKSWAGEN_MQB_TX_MSGS[0]);
+
+AddrCheckStruct volkswagen_mqb_rx_checks[] = {
+  {.addr = {MSG_ESP_19},   .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U},
+  {.addr = {MSG_EPS_01},   .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 10000U},
+  {.addr = {MSG_ESP_05},   .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U},
+  {.addr = {MSG_TSK_06},   .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U},
+  {.addr = {MSG_MOTOR_20}, .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 20000U},
 };
+const int VOLKSWAGEN_MQB_RX_CHECKS_LEN = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]);

-const int VOLKSWAGEN_RX_CHECK_LEN = sizeof(volkswagen_rx_checks) / sizeof(volkswagen_rx_checks[0]);
+// Safety-relevant CAN messages for the Volkswagen PQ35/PQ46/NMS platforms
+#define MSG_LENKHILFE_3 0x0D0   // RX from EPS, for steering angle and driver steering torque
+#define MSG_HCA_1       0x0D2   // TX by OP, Heading Control Assist steering torque
+#define MSG_MOTOR_2     0x288   // RX from ECU, for CC state and brake switch state
+#define MSG_MOTOR_3     0x380   // RX from ECU, for driver throttle input
+#define MSG_GRA_NEU     0x38A   // TX by OP, ACC control buttons for cancel/resume
+#define MSG_BREMSE_3    0x4A0   // RX from ABS, for wheel speeds
+#define MSG_LDW_1       0x5BE   // TX by OP, Lane line recognition and text alerts

-struct sample_t volkswagen_torque_driver;  // last few driver torques measured
+// Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+const AddrBus VOLKSWAGEN_PQ_TX_MSGS[] = {{MSG_HCA_1, 0}, {MSG_GRA_NEU, 0}, {MSG_GRA_NEU, 2}, {MSG_LDW_1, 0}};
+const int VOLKSWAGEN_PQ_TX_MSGS_LEN = sizeof(VOLKSWAGEN_PQ_TX_MSGS) / sizeof(VOLKSWAGEN_PQ_TX_MSGS[0]);
+
+AddrCheckStruct volkswagen_pq_rx_checks[] = {
+  {.addr = {MSG_LENKHILFE_3}, .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 10000U},
+  {.addr = {MSG_MOTOR_2},     .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 20000U},
+  {.addr = {MSG_MOTOR_3},     .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U},
+  {.addr = {MSG_BREMSE_3},    .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U},
+};
+const int VOLKSWAGEN_PQ_RX_CHECKS_LEN = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]);
+
+struct sample_t volkswagen_torque_driver; // Last few driver torques measured
 int volkswagen_rt_torque_last = 0;
 int volkswagen_desired_torque_last = 0;
 uint32_t volkswagen_ts_last = 0;
-int volkswagen_gas_prev = 0;
+bool volkswagen_moving = false;
+int volkswagen_torque_msg = 0;
+int volkswagen_lane_msg = 0;
+uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR

-static int volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

-  bool valid = addr_safety_check(to_push, volkswagen_rx_checks, VOLKSWAGEN_RX_CHECK_LEN,
-                                 NULL, NULL, NULL);
+static uint8_t volkswagen_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  return (uint8_t)GET_BYTE(to_push, 0);
+}

-  if (valid) {
-   int bus = GET_BUS(to_push);
-   int addr = GET_ADDR(to_push);
+static uint8_t volkswagen_mqb_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  // MQB message counters are consistently found at LSB 8.
+  return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
+}

-   // Update driver input torque samples from EPS_01.Driver_Strain for absolute torque, and EPS_01.Driver_Strain_VZ
-   // for the direction.
-   if ((bus == 0) && (addr == MSG_EPS_01)) {
-     int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
-     int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
-     if (sign == 1) {
-       torque_driver_new *= -1;
-     }
+static uint8_t volkswagen_pq_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  // Few PQ messages have counters, and their offsets are inconsistent. This
+  // function works only for Lenkhilfe_3 at this time.
+  return (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
+}

-     update_sample(&volkswagen_torque_driver, torque_driver_new);
-   }
+static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
+  int addr = GET_ADDR(to_push);
+  int len = GET_LEN(to_push);

-   // Monitor ACC_06.ACC_Status_ACC for stock ACC status. Because the current MQB port is lateral-only, OP's control
-   // allowed state is directly driven by stock ACC engagement. Permit the ACC message to come from either bus, in
-   // order to accommodate future camera-side integrations if needed.
-   if (addr == MSG_ACC_06) {
-     int acc_status = (GET_BYTE(to_push, 7) & 0x70) >> 4;
-     controls_allowed = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
-   }
+  // This is CRC-8H2F/AUTOSAR with a twist. See the OpenDBC implementation
+  // of this algorithm for a version with explanatory comments.

-   // exit controls on rising edge of gas press. Bits [12-20)
-   if (addr == MSG_MOTOR_20) {
-     int gas = (GET_BYTES_04(to_push) >> 12) & 0xFF;
-     if ((gas > 0) && (volkswagen_gas_prev == 0)) {
-       controls_allowed = 0;
-     }
-     volkswagen_gas_prev = gas;
-   }
+  uint8_t crc = 0xFFU;
+  for (int i = 1; i < len; i++) {
+    crc ^= (uint8_t)GET_BYTE(to_push, i);
+    crc = volkswagen_crc8_lut_8h2f[crc];
+  }

-   if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_01)) {
-     relay_malfunction = true;
-   }
+  uint8_t counter = volkswagen_mqb_get_counter(to_push);
+  switch(addr) {
+    case MSG_EPS_01:
+      crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
+      break;
+    case MSG_ESP_05:
+      crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
+      break;
+    case MSG_TSK_06:
+      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      break;
+    case MSG_MOTOR_20:
+      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
+      break;
+    default: // Undefined CAN message, CRC check expected to fail
+      break;
+  }
+  crc = volkswagen_crc8_lut_8h2f[crc];
+
+  return crc ^ 0xFFU;
+}
+
+static uint8_t volkswagen_pq_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  int len = GET_LEN(to_push);
+  uint8_t checksum = 0U;
+
+  for (int i = 1; i < len; i++) {
+    checksum ^= (uint8_t)GET_BYTE(to_push, i);
+  }
+
+  return checksum;
+}
+
+static void volkswagen_mqb_init(int16_t param) {
+  UNUSED(param);
+
+  controls_allowed = false;
+  relay_malfunction_reset();
+  volkswagen_torque_msg = MSG_HCA_01;
+  volkswagen_lane_msg = MSG_LDW_02;
+  gen_crc_lookup_table(0x2F, volkswagen_crc8_lut_8h2f);
+}
+
+static void volkswagen_pq_init(int16_t param) {
+  UNUSED(param);
+
+  controls_allowed = false;
+  relay_malfunction_reset();
+  volkswagen_torque_msg = MSG_HCA_1;
+  volkswagen_lane_msg = MSG_LDW_1;
+}
+
+static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_RX_CHECKS_LEN,
+                                 volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
+
+  if (valid && (GET_BUS(to_push) == 0)) {
+    int addr = GET_ADDR(to_push);
+
+    // Update in-motion state by sampling front wheel speeds
+    // Signal: ESP_19.ESP_VL_Radgeschw_02 (front left) in scaled km/h
+    // Signal: ESP_19.ESP_VR_Radgeschw_02 (front right) in scaled km/h
+    if (addr == MSG_ESP_19) {
+      int wheel_speed_fl = GET_BYTE(to_push, 4) | (GET_BYTE(to_push, 5) << 8);
+      int wheel_speed_fr = GET_BYTE(to_push, 6) | (GET_BYTE(to_push, 7) << 8);
+      // Check for average front speed in excess of 0.3m/s, 1.08km/h
+      // DBC speed scale 0.0075: 0.3m/s = 144, sum both wheels to compare
+      volkswagen_moving = (wheel_speed_fl + wheel_speed_fr) > 288;
+    }
+
+    // Update driver input torque samples
+    // Signal: EPS_01.Driver_Strain (absolute torque)
+    // Signal: EPS_01.Driver_Strain_VZ (direction)
+    if (addr == MSG_EPS_01) {
+      int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
+      int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
+      if (sign == 1) {
+        torque_driver_new *= -1;
+      }
+      update_sample(&volkswagen_torque_driver, torque_driver_new);
+    }
+
+    // Update ACC status from drivetrain coordinator for controls-allowed state
+    // Signal: TSK_06.TSK_Status
+    if (addr == MSG_TSK_06) {
+      int acc_status = (GET_BYTE(to_push, 3) & 0x7);
+      controls_allowed = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
+    }
+
+    // Exit controls on rising edge of gas press
+    // Signal: Motor_20.MO_Fahrpedalrohwert_01
+    if (addr == MSG_MOTOR_20) {
+      bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
+      if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
+        controls_allowed = 0;
+      }
+      gas_pressed_prev = gas_pressed;
+    }
+
+    // Exit controls on rising edge of brake press
+    // Signal: ESP_05.ESP_Fahrer_bremst
+    if (addr == MSG_ESP_05) {
+      bool brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
+      if (brake_pressed && (!brake_pressed_prev || volkswagen_moving)) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
+    }
+
+    // If there are HCA messages on bus 0 not sent by OP, there's a relay problem
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == MSG_HCA_01)) {
+      relay_malfunction_set();
+    }
  }
  return valid;
 }

-static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_RX_CHECKS_LEN,
+                                volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
+
+  if (valid) {
+    int bus = GET_BUS(to_push);
+    int addr = GET_ADDR(to_push);
+
+    // Update in-motion state by sampling front wheel speeds
+    // Signal: Bremse_3.Radgeschw__VL_4_1 (front left)
+    // Signal: Bremse_3.Radgeschw__VR_4_1 (front right)
+    if ((bus == 0) && (addr == MSG_BREMSE_3)) {
+      int wheel_speed_fl = (GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8)) >> 1;
+      int wheel_speed_fr = (GET_BYTE(to_push, 2) | (GET_BYTE(to_push, 3) << 8)) >> 1;
+      // Check for average front speed in excess of 0.3m/s, 1.08km/h
+      // DBC speed scale 0.01: 0.3m/s = 108, sum both wheels to compare
+      volkswagen_moving = (wheel_speed_fl + wheel_speed_fr) > 216;
+    }
+
+    // Update driver input torque samples
+    // Signal: Lenkhilfe_3.LH3_LM (absolute torque)
+    // Signal: Lenkhilfe_3.LH3_LMSign (direction)
+    if ((bus == 0) && (addr == MSG_LENKHILFE_3)) {
+      int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
+      int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
+      if (sign == 1) {
+        torque_driver_new *= -1;
+      }
+      update_sample(&volkswagen_torque_driver, torque_driver_new);
+    }
+
+    // Update ACC status from ECU for controls-allowed state
+    // Signal: Motor_2.GRA_Status
+    if ((bus == 0) && (addr == MSG_MOTOR_2)) {
+      int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
+      controls_allowed = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
+    }
+
+    // Exit controls on rising edge of gas press
+    // Signal: Motor_3.Fahrpedal_Rohsignal
+    if ((bus == 0) && (addr == MSG_MOTOR_3)) {
+      int gas_pressed = (GET_BYTE(to_push, 2));
+      if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
+        controls_allowed = 0;
+      }
+      gas_pressed_prev = gas_pressed;
+    }
+
+    // Exit controls on rising edge of brake press
+    // Signal: Motor_2.Bremslichtschalter
+    if ((bus == 0) && (addr == MSG_MOTOR_2)) {
+      bool brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
+      if (brake_pressed && (!(brake_pressed_prev) || volkswagen_moving)) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
+    }
+
+    // If there are HCA messages on bus 0 not sent by OP, there's a relay problem
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_1)) {
+      relay_malfunction_set();
+    }
+  }
+  return valid;
+}
+
+static bool volkswagen_steering_check(int desired_torque) {
+  bool violation = false;
+  uint32_t ts = TIM2->CNT;
+
+  if (controls_allowed) {
+    // *** global torque limit check ***
+    violation |= max_limit_check(desired_torque, VOLKSWAGEN_MAX_STEER, -VOLKSWAGEN_MAX_STEER);
+
+    // *** torque rate limit check ***
+    violation |= driver_limit_check(desired_torque, volkswagen_desired_torque_last, &volkswagen_torque_driver,
+      VOLKSWAGEN_MAX_STEER, VOLKSWAGEN_MAX_RATE_UP, VOLKSWAGEN_MAX_RATE_DOWN,
+      VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE, VOLKSWAGEN_DRIVER_TORQUE_FACTOR);
+    volkswagen_desired_torque_last = desired_torque;
+
+    // *** torque real time rate limit check ***
+    violation |= rt_rate_limit_check(desired_torque, volkswagen_rt_torque_last, VOLKSWAGEN_MAX_RT_DELTA);
+
+    // every RT_INTERVAL set the new limits
+    uint32_t ts_elapsed = get_ts_elapsed(ts, volkswagen_ts_last);
+    if (ts_elapsed > VOLKSWAGEN_RT_INTERVAL) {
+      volkswagen_rt_torque_last = desired_torque;
+      volkswagen_ts_last = ts;
+    }
+  }
+
+  // no torque if controls is not allowed
+  if (!controls_allowed && (desired_torque != 0)) {
+    violation = true;
+  }
+
+  // reset to 0 if either controls is not allowed or there's a violation
+  if (violation || !controls_allowed) {
+    volkswagen_desired_torque_last = 0;
+    volkswagen_rt_torque_last = 0;
+    volkswagen_ts_last = ts;
+  }
+
+  return violation;
+}
+
+static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  int addr = GET_ADDR(to_send);
  int bus = GET_BUS(to_send);
  int tx = 1;

-  if (!msg_allowed(addr, bus, VOLKSWAGEN_TX_MSGS, sizeof(VOLKSWAGEN_TX_MSGS)/sizeof(VOLKSWAGEN_TX_MSGS[0]))) {
+  if (!msg_allowed(addr, bus, VOLKSWAGEN_MQB_TX_MSGS, VOLKSWAGEN_MQB_TX_MSGS_LEN) || relay_malfunction) {
    tx = 0;
  }

-  if (relay_malfunction) {
-    tx = 0;
-  }
-
-  // Safety check for HCA_01 Heading Control Assist torque.
+  // Safety check for HCA_01 Heading Control Assist torque
+  // Signal: HCA_01.Assist_Torque (absolute torque)
+  // Signal: HCA_01.Assist_VZ (direction)
  if (addr == MSG_HCA_01) {
-    bool violation = false;
-
    int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3F) << 8);
    int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
    if (sign == 1) {
      desired_torque *= -1;
    }

-    uint32_t ts = TIM2->CNT;
-
-    if (controls_allowed) {
-
-      // *** global torque limit check ***
-      violation |= max_limit_check(desired_torque, VOLKSWAGEN_MAX_STEER, -VOLKSWAGEN_MAX_STEER);
-
-      // *** torque rate limit check ***
-      violation |= driver_limit_check(desired_torque, volkswagen_desired_torque_last, &volkswagen_torque_driver,
-        VOLKSWAGEN_MAX_STEER, VOLKSWAGEN_MAX_RATE_UP, VOLKSWAGEN_MAX_RATE_DOWN,
-        VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE, VOLKSWAGEN_DRIVER_TORQUE_FACTOR);
-      volkswagen_desired_torque_last = desired_torque;
-
-      // *** torque real time rate limit check ***
-      violation |= rt_rate_limit_check(desired_torque, volkswagen_rt_torque_last, VOLKSWAGEN_MAX_RT_DELTA);
-
-      // every RT_INTERVAL set the new limits
-      uint32_t ts_elapsed = get_ts_elapsed(ts, volkswagen_ts_last);
-      if (ts_elapsed > VOLKSWAGEN_RT_INTERVAL) {
-        volkswagen_rt_torque_last = desired_torque;
-        volkswagen_ts_last = ts;
-      }
-    }
-
-    // no torque if controls is not allowed
-    if (!controls_allowed && (desired_torque != 0)) {
-      violation = true;
-    }
-
-    // reset to 0 if either controls is not allowed or there's a violation
-    if (violation || !controls_allowed) {
-      volkswagen_desired_torque_last = 0;
-      volkswagen_rt_torque_last = 0;
-      volkswagen_ts_last = ts;
-    }
-
-    if (violation) {
+    if (volkswagen_steering_check(desired_torque)) {
      tx = 0;
    }
  }
@@ -154,29 +351,65 @@ static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
  return tx;
 }

+static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  int addr = GET_ADDR(to_send);
+  int bus = GET_BUS(to_send);
+  int tx = 1;
+
+  if (!msg_allowed(addr, bus, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN) || relay_malfunction) {
+    tx = 0;
+  }
+
+  // Safety check for HCA_1 Heading Control Assist torque
+  // Signal: HCA_1.LM_Offset (absolute torque)
+  // Signal: HCA_1.LM_Offsign (direction)
+  if (addr == MSG_HCA_1) {
+    int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7F) << 8);
+    desired_torque = desired_torque / 32;  // DBC scale from PQ network to centi-Nm
+    int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
+    if (sign == 1) {
+      desired_torque *= -1;
+    }
+
+    if (volkswagen_steering_check(desired_torque)) {
+      tx = 0;
+    }
+  }
+
+  // FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
+  // This avoids unintended engagements while still allowing resume spam
+  if ((addr == MSG_GRA_NEU) && !controls_allowed) {
+    // disallow resume and set: bits 16 and 17
+    if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
+      tx = 0;
+    }
+  }
+
+  // 1 allows the message through
+  return tx;
+}
+
 static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  int addr = GET_ADDR(to_fwd);
  int bus_fwd = -1;

-  // NOTE: Will need refactoring for other bus layouts, such as no-forwarding at camera or J533 running-gear CAN
-
  if (!relay_malfunction) {
    switch (bus_num) {
      case 0:
-        // Forward all traffic from J533 gateway to Extended CAN devices.
+        // Forward all traffic from the Extended CAN onward
        bus_fwd = 2;
        break;
      case 2:
-        if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) {
-          // OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera.
+        if ((addr == volkswagen_torque_msg) || (addr == volkswagen_lane_msg)) {
+          // OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera
          bus_fwd = -1;
        } else {
-          // Forward all remaining traffic from Extended CAN devices to J533 gateway.
+          // Forward all remaining traffic from Extended CAN devices to J533 gateway
          bus_fwd = 0;
        }
        break;
      default:
-        // No other buses should be in use; fallback to do-not-forward.
+        // No other buses should be in use; fallback to do-not-forward
        bus_fwd = -1;
        break;
    }
@@ -184,12 +417,24 @@ static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  return bus_fwd;
 }

-const safety_hooks volkswagen_hooks = {
-  .init = nooutput_init,
-  .rx = volkswagen_rx_hook,
-  .tx = volkswagen_tx_hook,
+// Volkswagen MQB platform
+const safety_hooks volkswagen_mqb_hooks = {
+  .init = volkswagen_mqb_init,
+  .rx = volkswagen_mqb_rx_hook,
+  .tx = volkswagen_mqb_tx_hook,
  .tx_lin = nooutput_tx_lin_hook,
  .fwd = volkswagen_fwd_hook,
-  .addr_check = volkswagen_rx_checks,
-  .addr_check_len = sizeof(volkswagen_rx_checks) / sizeof(volkswagen_rx_checks[0]),
+  .addr_check = volkswagen_mqb_rx_checks,
+  .addr_check_len = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]),
+};
+
+// Volkswagen PQ35/PQ46/NMS platforms
+const safety_hooks volkswagen_pq_hooks = {
+  .init = volkswagen_pq_init,
+  .rx = volkswagen_pq_rx_hook,
+  .tx = volkswagen_pq_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = volkswagen_fwd_hook,
+  .addr_check = volkswagen_pq_rx_checks,
+  .addr_check_len = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]),
 };
@@ -49,6 +49,7 @@ bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
  const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
 bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
 float interpolate(struct lookup_t xy, float x);
+void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]);
 bool msg_allowed(int addr, int bus, const AddrBus addr_list[], int len);
 int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len);
 void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter);
@@ -60,6 +61,8 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
                       uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
                       uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
                       uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push));
+void relay_malfunction_set(void);
+void relay_malfunction_reset(void);

 typedef void (*safety_hook_init)(int16_t param);
 typedef int (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
@@ -84,6 +87,26 @@ bool controls_allowed = false;
 bool relay_malfunction = false;
 bool gas_interceptor_detected = false;
 int gas_interceptor_prev = 0;
+bool gas_pressed_prev = false;
+bool brake_pressed_prev = false;
+
+// This can be set with a USB command
+// It enables features we consider to be unsafe, but understand others may have different opinions
+// It is always 0 on mainline comma.ai openpilot
+
+// If using this flag, be very careful about what happens if your fork wants to brake while the
+//   user is pressing the gas. Tesla is careful with this.
+#define UNSAFE_DISABLE_DISENGAGE_ON_GAS 1
+
+// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled.
+#define UNSAFE_DISABLE_STOCK_AEB 2
+
+// If using this flag, be aware that harder braking is more likely to lead to rear endings,
+//   and that alone this flag doesn't make braking compliant because there's also a time element.
+// See ISO 15622:2018 for more information.
+#define UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
+
+int unsafe_mode = 0;

 // time since safety mode has been changed
 uint32_t safety_mode_cnt = 0U;
@@ -110,6 +110,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
  UNUSED(len);
  UNUSED(hardwired);
 }
+void usb_cb_ep3_out_complete(void) {}

 int is_enumerated = 0;
 void usb_cb_enumeration_complete(void) {
@@ -0,0 +1,16 @@
+# Connecting to White Panda via Wi-Fi
+
+1. First connect to your White Panda's Wi-Fi pairing network (this should be the Wi-Fi network WITH the "-pair" at the end)
+
+2. Now in your favorite web browser go to this address **192.168.0.10** (this should open a web interface to interact with the White Panda)
+
+3. Inside the web interface enable secured mode by clinking the **secure it** link/button (this should make the White Panda's Wi-Fi network visible)
+
+   ### If you need your White Panda's Wi-Fi Password 
+
+   * Run the **get_panda_password.py** script in found in **examples/** (Must have panda paw for this step because you need to connect White Panda via USB to retrive the Wi-Fi password)
+   * Also ensure that you are connected to your White Panda's Wi-Fi pairing network 
+
+4. Connect to your White Panda's default Wi-Fi network (this should be the Wi-Fi network WITHOUT the "-pair" at the end)
+
+5. Your White Panda is now connected to Wi-Fi you can test this by running this line of code `python -c 'from panda import Panda; panda = Panda("WIFI")'` in your terminal of choice.
@@ -123,12 +123,14 @@ class Panda(object):
  SAFETY_TESLA = 10
  SAFETY_SUBARU = 11
  SAFETY_MAZDA = 13
-  SAFETY_VOLKSWAGEN = 15
-  SAFETY_TOYOTA_IPAS = 16
+  SAFETY_NISSAN = 14
+  SAFETY_VOLKSWAGEN_MQB = 15
  SAFETY_ALLOUTPUT = 17
  SAFETY_GM_ASCM = 18
  SAFETY_NOOUTPUT = 19
  SAFETY_HONDA_BOSCH_HARNESS = 20
+  SAFETY_VOLKSWAGEN_PQ = 21
+  SAFETY_SUBARU_LEGACY = 22

  SERIAL_DEBUG = 0
  SERIAL_ESP = 1
@@ -186,6 +188,7 @@ class Panda(object):
                self.bootstub = device.getProductID() == 0xddee
                self.legacy = (device.getbcdDevice() != 0x2300)
                self._handle = device.open()
+                self._handle.setAutoDetachKernelDriver(True)
                if claim:
                  self._handle.claimInterface(0)
                  #self._handle.setInterfaceAltSetting(0, 0) #Issue in USB stack
@@ -475,7 +478,12 @@ class Panda(object):

  # ******************* can *******************

-  def can_send_many(self, arr):
+  # The panda will NAK CAN writes when there is CAN congestion. 
+  # libusb will try to send it again, with a max timeout.
+  # Timeout is in ms. If set to 0, the timeout is infinite.
+  CAN_SEND_TIMEOUT_MS = 10
+
+  def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
    snds = []
    transmit = 1
    extended = 4
@@ -498,13 +506,13 @@ class Panda(object):
          for s in snds:
            self._handle.bulkWrite(3, s)
        else:
-          self._handle.bulkWrite(3, b''.join(snds))
+          self._handle.bulkWrite(3, b''.join(snds), timeout=timeout)
        break
      except (usb1.USBErrorIO, usb1.USBErrorOverflow):
        print("CAN: BAD SEND MANY, RETRYING")

-  def can_send(self, addr, dat, bus):
-    self.can_send_many([[addr, None, dat, bus]])
+  def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
+    self.can_send_many([[addr, None, dat, bus]], timeout=timeout)

  def can_recv(self):
    dat = bytearray()
@@ -9,3 +9,4 @@ requests
 flake8==3.7.9
 pylint==2.4.3
 cffi==1.11.4
+crcmod
@@ -1,6 +1,7 @@
 import os
 import time
 import random
+import threading
 from panda import Panda
 from nose.tools import assert_equal, assert_less, assert_greater
 from .helpers import panda_jungle, start_heartbeat_thread, reset_pandas, time_many_sends, test_all_pandas, test_all_gen2_pandas, clear_can_buffers, panda_connect_and_init
@@ -200,3 +201,44 @@ def test_gen2_loopback(p):
  finally:
    # Set back to silent mode
    p.set_safety_mode(Panda.SAFETY_SILENT)
+
+@test_all_pandas
+@panda_connect_and_init
+def test_bulk_write(p):
+  # The TX buffers on pandas is 0x100 in length.
+  NUM_MESSAGES_PER_BUS = 10000
+
+  def flood_tx(panda):
+    print('Sending!')
+    msg = b"\xaa"*4
+    packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS
+
+    # Disable timeout
+    panda.can_send_many(packet, timeout=0)
+    print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
+  
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
+  # Set safety mode and power saving
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p.set_power_save(False)
+  
+  # Start transmisson
+  threading.Thread(target=flood_tx, args=(p,)).start()
+
+  # Receive as much as we can in a few second time period
+  rx = []
+  old_len = 0
+  start_time = time.time()
+  while time.time() - start_time < 2 or len(rx) > old_len:
+    old_len = len(rx)
+    rx.extend(panda_jungle.can_recv())
+  print(f"Received {len(rx)} messages")
+
+  # All messages should have been received
+  if len(rx) != 3*NUM_MESSAGES_PER_BUS:
+    Exception("Did not receive all messages!")
+
+  # Set back to silent mode
+  p.set_safety_mode(Panda.SAFETY_SILENT)
@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+import time
+import threading
+
+from panda import Panda
+
+# The TX buffers on pandas is 0x100 in length.
+NUM_MESSAGES_PER_BUS = 10000
+
+def flood_tx(panda):
+  print('Sending!')
+  msg = b"\xaa"*4
+  packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS
+  panda.can_send_many(packet)
+  print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!")
+
+if __name__ == "__main__":
+  serials = Panda.list()
+  if len(serials) != 2:
+    raise Exception("Connect two pandas to perform this test!")
+  
+  sender = Panda(serials[0])
+  receiver = Panda(serials[1])
+  
+  sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  
+  # Start transmisson
+  threading.Thread(target=flood_tx, args=(sender,)).start()
+
+  # Receive as much as we can in a few second time period
+  rx = []
+  old_len = 0
+  start_time = time.time()
+  while time.time() - start_time < 2 or len(rx) > old_len:
+    old_len = len(rx)
+    rx.extend(receiver.can_recv())
+  print(f"Received {len(rx)} messages")
@@ -2,6 +2,12 @@ from panda.tests.safety import libpandasafety_py

 MAX_WRONG_COUNTERS = 5

+class UNSAFE_MODE:
+  DEFAULT = 0
+  DISABLE_DISENGAGE_ON_GAS = 1
+  DISABLE_STOCK_AEB = 2
+  RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
+
 def make_msg(bus, addr, length=8):
  to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
  if addr >= 0x800:
@@ -13,26 +19,58 @@ def make_msg(bus, addr, length=8):

  return to_send

-def test_relay_malfunction(test, addr):
-  # input is a test class and the address that, if seen on bus 0, triggers
-  # the relay_malfunction protection logic: both tx_hook and fwd_hook are
-  # expected to return failure
-  test.assertFalse(test.safety.get_relay_malfunction())
-  test.safety.safety_rx_hook(make_msg(0, addr, 8))
-  test.assertTrue(test.safety.get_relay_malfunction())
-  for a in range(1, 0x800):
-    for b in range(0, 3):
-      test.assertFalse(test.safety.safety_tx_hook(make_msg(b, a, 8)))
-      test.assertEqual(-1, test.safety.safety_fwd_hook(b, make_msg(b, a, 8)))
+class StdTest:
+  @staticmethod
+  def test_relay_malfunction(test, addr, bus=0):
+    # input is a test class and the address that, if seen on specified bus, triggers
+    # the relay_malfunction protection logic: both tx_hook and fwd_hook are
+    # expected to return failure
+    test.assertFalse(test.safety.get_relay_malfunction())
+    test.safety.safety_rx_hook(make_msg(bus, addr, 8))
+    test.assertTrue(test.safety.get_relay_malfunction())
+    for a in range(1, 0x800):
+      for b in range(0, 3):
+        test.assertFalse(test.safety.safety_tx_hook(make_msg(b, a, 8)))
+        test.assertEqual(-1, test.safety.safety_fwd_hook(b, make_msg(b, a, 8)))

-def test_manually_enable_controls_allowed(test):
-  test.safety.set_controls_allowed(1)
-  test.assertTrue(test.safety.get_controls_allowed())
-  test.safety.set_controls_allowed(0)
-  test.assertFalse(test.safety.get_controls_allowed())
+  @staticmethod
+  def test_manually_enable_controls_allowed(test):
+    test.safety.set_controls_allowed(1)
+    test.assertTrue(test.safety.get_controls_allowed())
+    test.safety.set_controls_allowed(0)
+    test.assertFalse(test.safety.get_controls_allowed())

-def test_spam_can_buses(test, TX_MSGS):
-  for addr in range(1, 0x800):
-    for bus in range(0, 4):
-      if all(addr != m[0] or bus != m[1] for m in TX_MSGS):
-        test.assertFalse(test.safety.safety_tx_hook(make_msg(bus, addr, 8)))
+  @staticmethod
+  def test_spam_can_buses(test, TX_MSGS):
+    for addr in range(1, 0x800):
+      for bus in range(0, 4):
+        if all(addr != m[0] or bus != m[1] for m in TX_MSGS):
+          test.assertFalse(test.safety.safety_tx_hook(make_msg(bus, addr, 8)))
+
+  @staticmethod
+  def test_allow_brake_at_zero_speed(test):
+    # Brake was already pressed
+    test.safety.safety_rx_hook(test._speed_msg(0))
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.safety.set_controls_allowed(1)
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.assertTrue(test.safety.get_controls_allowed())
+    test.safety.safety_rx_hook(test._brake_msg(0))
+    test.assertTrue(test.safety.get_controls_allowed())
+    # rising edge of brake should disengage
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.assertFalse(test.safety.get_controls_allowed())
+    test.safety.safety_rx_hook(test._brake_msg(0))  # reset no brakes
+
+  @staticmethod
+  def test_not_allow_brake_when_moving(test, standstill_threshold):
+    # Brake was already pressed
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.safety.set_controls_allowed(1)
+    test.safety.safety_rx_hook(test._speed_msg(standstill_threshold))
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.assertTrue(test.safety.get_controls_allowed())
+    test.safety.safety_rx_hook(test._speed_msg(standstill_threshold + 1))
+    test.safety.safety_rx_hook(test._brake_msg(1))
+    test.assertFalse(test.safety.get_controls_allowed())
+    test.safety.safety_rx_hook(test._speed_msg(0))
@@ -32,14 +32,17 @@ typedef struct

 void set_controls_allowed(bool c);
 bool get_controls_allowed(void);
+void set_unsafe_mode(int mode);
+int get_unsafe_mode(void);
 void set_relay_malfunction(bool c);
 bool get_relay_malfunction(void);
 void set_gas_interceptor_detected(bool c);
 bool get_gas_interceptor_detetcted(void);
 int get_gas_interceptor_prev(void);
+bool get_gas_pressed_prev(void);
+bool get_brake_pressed_prev(void);
 int get_hw_type(void);
 void set_timer(uint32_t t);
-void reset_angle_control(void);

 int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_push);
@@ -49,18 +52,14 @@ int set_safety_hooks(uint16_t  mode, int16_t param);
 void init_tests_toyota(void);
 int get_toyota_torque_meas_min(void);
 int get_toyota_torque_meas_max(void);
-int get_toyota_gas_prev(void);
 void set_toyota_torque_meas(int min, int max);
 void set_toyota_desired_torque_last(int t);
 void set_toyota_rt_torque_last(int t);

 void init_tests_honda(void);
 bool get_honda_moving(void);
-bool get_honda_brake_pressed_prev(void);
-int get_honda_gas_prev(void);
 void set_honda_fwd_brake(bool);
 void set_honda_alt_brake_msg(bool);
-void set_honda_hw(int);
 int get_honda_hw(void);

 void init_tests_cadillac(void);
@@ -88,13 +87,18 @@ void set_chrysler_torque_meas(int min, int max);
 void init_tests_subaru(void);
 void set_subaru_desired_torque_last(int t);
 void set_subaru_rt_torque_last(int t);
-void set_subaru_torque_driver(int min, int max);
+bool get_subaru_global(void);

 void init_tests_volkswagen(void);
+int get_volkswagen_torque_driver_min(void);
+int get_volkswagen_torque_driver_max(void);
+bool get_volkswagen_moving(void);
 void set_volkswagen_desired_torque_last(int t);
 void set_volkswagen_rt_torque_last(int t);
 void set_volkswagen_torque_driver(int min, int max);
-int get_volkswagen_gas_prev(void);
+
+void init_tests_nissan(void);
+void set_nissan_desired_angle_last(int t);

 """)

@@ -58,6 +58,17 @@ uint8_t hw_type = HW_TYPE_UNKNOWN;
    __typeof__ (b) _b = (b);                    \
    _a > _b ? _a : _b; })

+#define ABS(a)                                  \
+ ({ __typeof__ (a) _a = (a);                    \
+   (_a > 0) ? _a : (-_a); })
+
+// from faults.h
+#define FAULT_RELAY_MALFUNCTION         (1U << 0)
+void fault_occurred(uint32_t fault) {
+}
+void fault_recovered(uint32_t fault) {
+}
+
 // from llcan.h
 #define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
 #define GET_LEN(msg) ((msg)->RDTR & 0xf)
@@ -68,7 +79,9 @@ uint8_t hw_type = HW_TYPE_UNKNOWN;

 #define UNUSED(x) (void)(x)

+#ifndef PANDA
 #define PANDA
+#endif
 #define NULL ((void*)0)
 #define static
 #include "safety.h"
@@ -77,6 +90,10 @@ void set_controls_allowed(bool c){
  controls_allowed = c;
 }

+void set_unsafe_mode(int mode){
+  unsafe_mode = mode;
+}
+
 void set_relay_malfunction(bool c){
  relay_malfunction = c;
 }
@@ -85,14 +102,14 @@ void set_gas_interceptor_detected(bool c){
  gas_interceptor_detected = c;
 }

-void reset_angle_control(void){
-  angle_control = 0;
-}
-
 bool get_controls_allowed(void){
  return controls_allowed;
 }

+int get_unsafe_mode(void){
+  return unsafe_mode;
+}
+
 bool get_relay_malfunction(void){
  return relay_malfunction;
 }
@@ -105,10 +122,22 @@ int get_gas_interceptor_prev(void){
  return gas_interceptor_prev;
 }

+bool get_gas_pressed_prev(void){
+  return gas_pressed_prev;
+}
+
+bool get_brake_pressed_prev(void){
+  return brake_pressed_prev;
+}
+
 int get_hw_type(void){
  return hw_type;
 }

+bool get_subaru_global(void){
+  return subaru_global;
+}
+
 void set_timer(uint32_t t){
  timer.CNT = t;
 }
@@ -138,16 +167,19 @@ void set_chrysler_torque_meas(int min, int max){
  chrysler_torque_meas.max = max;
 }

-void set_subaru_torque_driver(int min, int max){
-  subaru_torque_driver.min = min;
-  subaru_torque_driver.max = max;
-}
-
 void set_volkswagen_torque_driver(int min, int max){
  volkswagen_torque_driver.min = min;
  volkswagen_torque_driver.max = max;
 }

+int get_volkswagen_torque_driver_min(void){
+  return volkswagen_torque_driver.min;
+}
+
+int get_volkswagen_torque_driver_max(void){
+  return volkswagen_torque_driver.max;
+}
+
 int get_chrysler_torque_meas_min(void){
  return chrysler_torque_meas.min;
 }
@@ -156,10 +188,6 @@ int get_chrysler_torque_meas_max(void){
  return chrysler_torque_meas.max;
 }

-int get_toyota_gas_prev(void){
-  return toyota_gas_prev;
-}
-
 int get_toyota_torque_meas_min(void){
  return toyota_torque_meas.min;
 }
@@ -224,30 +252,18 @@ void set_volkswagen_desired_torque_last(int t){
  volkswagen_desired_torque_last = t;
 }

-int get_volkswagen_gas_prev(void){
-  return volkswagen_gas_prev;
+int get_volkswagen_moving(void){
+  return volkswagen_moving;
 }

 bool get_honda_moving(void){
  return honda_moving;
 }

-bool get_honda_brake_pressed_prev(void){
-  return honda_brake_pressed_prev;
-}
-
-int get_honda_gas_prev(void){
-  return honda_gas_prev;
-}
-
 void set_honda_alt_brake_msg(bool c){
  honda_alt_brake_msg = c;
 }

-void set_honda_hw(int c){
-  honda_hw = c;
-}
-
 int get_honda_hw(void) {
  return honda_hw;
 }
@@ -256,10 +272,16 @@ void set_honda_fwd_brake(bool c){
  honda_fwd_brake = c;
 }

+void set_nissan_desired_angle_last(int t){
+  nissan_desired_angle_last = t;
+}
+
 void init_tests(void){
  // get HW_TYPE from env variable set in test.sh
  hw_type = atoi(getenv("HW_TYPE"));
  safety_mode_cnt = 2U;  // avoid ignoring relay_malfunction logic
+  gas_pressed_prev = false;
+  brake_pressed_prev = false;
 }

 void init_tests_toyota(void){
@@ -304,6 +326,7 @@ void init_tests_hyundai(void){

 void init_tests_chrysler(void){
  init_tests();
+  chrysler_speed = 0;
  chrysler_torque_meas.min = 0;
  chrysler_torque_meas.max = 0;
  chrysler_desired_torque_last = 0;
@@ -324,6 +347,7 @@ void init_tests_subaru(void){

 void init_tests_volkswagen(void){
  init_tests();
+  volkswagen_moving = false;
  volkswagen_torque_driver.min = 0;
  volkswagen_torque_driver.max = 0;
  volkswagen_desired_torque_last = 0;
@@ -335,11 +359,17 @@ void init_tests_volkswagen(void){
 void init_tests_honda(void){
  init_tests();
  honda_moving = false;
-  honda_brake_pressed_prev = false;
-  honda_gas_prev = 0;
  honda_fwd_brake = false;
 }

+void init_tests_nissan(void){
+  init_tests();
+  nissan_angle_meas.min = 0;
+  nissan_angle_meas.max = 0;
+  nissan_desired_angle_last = 0;
+  set_timer(0);
+}
+
 void set_gmlan_digital_output(int to_set){
 }

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import make_msg, StdTest


 MAX_RATE_UP = 2
@@ -56,13 +56,13 @@ class TestCadillacSafety(unittest.TestCase):
    return to_send

  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)

  def test_default_controls_not_allowed(self):
    self.assertFalse(self.safety.get_controls_allowed())

  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)

  def test_enable_control_allowed_from_cruise(self):
    to_push = make_msg(0, 0x370)
@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE

 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 3
@@ -16,7 +16,37 @@ MAX_TORQUE_ERROR = 80

 TX_MSGS = [[571, 0], [658, 0], [678, 0]]

+def chrysler_checksum(msg, len_msg):
+  checksum = 0xFF
+  for idx in range(0, len_msg-1):
+    curr = (msg.RDLR >> (8*idx)) if idx < 4 else (msg.RDHR >> (8*(idx - 4)))
+    curr &= 0xFF
+    shift = 0x80
+    for i in range(0, 8):
+      bit_sum = curr & shift
+      temp_chk = checksum & 0x80
+      if (bit_sum != 0):
+        bit_sum = 0x1C
+        if (temp_chk != 0):
+          bit_sum = 1
+        checksum = checksum << 1
+        temp_chk = checksum | 1
+        bit_sum ^= temp_chk
+      else:
+        if (temp_chk != 0):
+          bit_sum = 0x1D
+        checksum = checksum << 1
+        bit_sum ^= checksum
+      checksum = bit_sum
+      shift = shift >> 1
+  return ~checksum & 0xFF
+
 class TestChryslerSafety(unittest.TestCase):
+  cnt_torque_meas = 0
+  cnt_gas = 0
+  cnt_cruise = 0
+  cnt_brake = 0
+
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
@@ -28,6 +58,36 @@ class TestChryslerSafety(unittest.TestCase):
    to_send[0].RDLR = buttons
    return to_send

+  def _cruise_msg(self, active):
+    to_send = make_msg(0, 500)
+    to_send[0].RDLR = 0x380000 if active else 0
+    to_send[0].RDHR |= (self.cnt_cruise % 16) << 20
+    to_send[0].RDHR |= chrysler_checksum(to_send[0], 8) << 24
+    self.__class__.cnt_cruise += 1
+    return to_send
+
+  def _speed_msg(self, speed):
+    speed = int(speed / 0.071028)
+    to_send = make_msg(0, 514, 4)
+    to_send[0].RDLR = ((speed & 0xFF0) >> 4) + ((speed & 0xF) << 12) + \
+                      ((speed & 0xFF0) << 12) + ((speed & 0xF) << 28)
+    return to_send
+
+  def _gas_msg(self, gas):
+    to_send = make_msg(0, 308)
+    to_send[0].RDHR = (gas & 0x7F) << 8
+    to_send[0].RDHR |= (self.cnt_gas % 16) << 20
+    self.__class__.cnt_gas += 1
+    return to_send
+
+  def _brake_msg(self, brake):
+    to_send = make_msg(0, 320)
+    to_send[0].RDLR = 5 if brake else 0
+    to_send[0].RDHR |= (self.cnt_brake % 16) << 20
+    to_send[0].RDHR |= chrysler_checksum(to_send[0], 8) << 24
+    self.__class__.cnt_brake += 1
+    return to_send
+
  def _set_prev_torque(self, t):
    self.safety.set_chrysler_desired_torque_last(t)
    self.safety.set_chrysler_rt_torque_last(t)
@@ -36,6 +96,9 @@ class TestChryslerSafety(unittest.TestCase):
  def _torque_meas_msg(self, torque):
    to_send = make_msg(0, 544)
    to_send[0].RDHR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
+    to_send[0].RDHR |= (self.cnt_torque_meas % 16) << 20
+    to_send[0].RDHR |= chrysler_checksum(to_send[0], 8) << 24
+    self.__class__.cnt_torque_meas += 1
    return to_send

  def _torque_msg(self, torque):
@@ -44,10 +107,10 @@ class TestChryslerSafety(unittest.TestCase):
    return to_send

  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)

  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0x292)
+    StdTest.test_relay_malfunction(self, 0x292)

  def test_default_controls_not_allowed(self):
    self.assertFalse(self.safety.get_controls_allowed())
@@ -63,23 +126,41 @@ class TestChryslerSafety(unittest.TestCase):
          self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))

  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)

  def test_enable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x1F4)
-    to_push[0].RDLR = 0x380000
-
+    to_push = self._cruise_msg(True)
    self.safety.safety_rx_hook(to_push)
    self.assertTrue(self.safety.get_controls_allowed())

  def test_disable_control_allowed_from_cruise(self):
-    to_push = make_msg(0, 0x1F4)
-    to_push[0].RDLR = 0
-
+    to_push = self._cruise_msg(False)
    self.safety.set_controls_allowed(1)
    self.safety.safety_rx_hook(to_push)
    self.assertFalse(self.safety.get_controls_allowed())

+  def test_gas_disable(self):
+    self.safety.set_controls_allowed(1)
+    self.safety.safety_rx_hook(self._speed_msg(2.2))
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.safety_rx_hook(self._speed_msg(2.3))
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(1)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 0)
+
  def test_non_realtime_limit_up(self):
    self.safety.set_controls_allowed(True)

@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE

 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
@@ -90,10 +90,10 @@ class TestGmSafety(unittest.TestCase):
    return to_send

  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)

  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 384)
+    StdTest.test_relay_malfunction(self, 384)

  def test_default_controls_not_allowed(self):
    self.assertFalse(self.safety.get_controls_allowed())
@@ -116,29 +116,9 @@ class TestGmSafety(unittest.TestCase):
    self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN))
    self.assertFalse(self.safety.get_controls_allowed())

-  def test_disengage_on_brake(self):
-    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-
-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.safety_rx_hook(self._speed_msg(100))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 0)

  def test_disengage_on_gas(self):
    self.safety.set_controls_allowed(1)
@@ -146,6 +126,14 @@ class TestGmSafety(unittest.TestCase):
    self.assertFalse(self.safety.get_controls_allowed())
    self.safety.safety_rx_hook(self._gas_msg(False))

+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(False))
+    self.safety.set_controls_allowed(1)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(True))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
  def test_allow_engage_with_gas_pressed(self):
    self.safety.safety_rx_hook(self._gas_msg(True))
    self.safety.set_controls_allowed(1)
@@ -182,7 +170,7 @@ class TestGmSafety(unittest.TestCase):
          self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))

  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)

  def test_non_realtime_limit_up(self):
    self.safety.set_gm_torque_driver(0, 0)
@@ -272,6 +260,59 @@ class TestGmSafety(unittest.TestCase):
        # assume len 8
        self.assertEqual(-1, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))

+  def test_tx_hook_on_pedal_pressed(self):
+    for pedal in ['brake', 'gas']:
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
+
+      self.safety.set_controls_allowed(1)
+      self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
+      self.assertFalse(self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
+
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._torque_msg(0))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
+
+  def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
+    for pedal in ['brake', 'gas']:
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(MAX_BRAKE))
+        allow_ctrl = False
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(MAX_GAS))
+        allow_ctrl = True
+
+      self.safety.set_controls_allowed(1)
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_gas_msg(MAX_GAS)))
+
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._torque_msg(0))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))

 if __name__ == "__main__":
  unittest.main()
@@ -3,14 +3,15 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, \
-                                      test_manually_enable_controls_allowed, \
-                                      test_spam_can_buses, MAX_WRONG_COUNTERS
+from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS, UNSAFE_MODE

 MAX_BRAKE = 255

 INTERCEPTOR_THRESHOLD = 328
-TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
+N_TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
+BH_TX_MSGS = [[0xE4, 0], [0x296, 1], [0x33D, 0]]  # Bosch Harness
+BG_TX_MSGS = [[0xE4, 2], [0x296, 0], [0x33D, 2]]  # Bosch Giraffe
+

 HONDA_N_HW = 0
 HONDA_BG_HW = 1
@@ -30,39 +31,41 @@ def honda_checksum(msg, addr, len_msg):


 class TestHondaSafety(unittest.TestCase):
+  cnt_speed = 0
+  cnt_gas = 0
+  cnt_button = 0
+
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0)
    cls.safety.init_tests_honda()
-    cls.cnt_speed = 0
-    cls.cnt_gas = 0
-    cls.cnt_button = 0

  def _speed_msg(self, speed):
-    to_send = make_msg(0, 0x158)
+    bus = 1 if self.safety.get_honda_hw() == HONDA_BH_HW else 0
+    to_send = make_msg(bus, 0x158)
    to_send[0].RDLR = speed
    to_send[0].RDHR |= (self.cnt_speed % 4) << 28
    to_send[0].RDHR |= honda_checksum(to_send[0], 0x158, 8) << 24
-    self.cnt_speed += 1
+    self.__class__.cnt_speed += 1
    return to_send

  def _button_msg(self, buttons, addr):
-    honda_hw = self.safety.get_honda_hw()
-    bus = 1 if honda_hw == HONDA_BH_HW else 0
+    bus = 1 if self.safety.get_honda_hw() == HONDA_BH_HW else 0
    to_send = make_msg(bus, addr)
    to_send[0].RDLR = buttons << 5
    to_send[0].RDHR |= (self.cnt_button % 4) << 28
    to_send[0].RDHR |= honda_checksum(to_send[0], addr, 8) << 24
-    self.cnt_button += 1
+    self.__class__.cnt_button += 1
    return to_send

  def _brake_msg(self, brake):
-    to_send = make_msg(0, 0x17C)
+    bus = 1 if self.safety.get_honda_hw() == HONDA_BH_HW else 0
+    to_send = make_msg(bus, 0x17C)
    to_send[0].RDHR = 0x200000 if brake else 0
    to_send[0].RDHR |= (self.cnt_gas % 4) << 28
    to_send[0].RDHR |= honda_checksum(to_send[0], 0x17C, 8) << 24
-    self.cnt_gas += 1
+    self.__class__.cnt_gas += 1
    return to_send

  def _alt_brake_msg(self, brake):
@@ -71,11 +74,12 @@ class TestHondaSafety(unittest.TestCase):
    return to_send

  def _gas_msg(self, gas):
-    to_send = make_msg(0, 0x17C)
+    bus = 1 if self.safety.get_honda_hw() == HONDA_BH_HW else 0
+    to_send = make_msg(bus, 0x17C)
    to_send[0].RDLR = 1 if gas else 0
    to_send[0].RDHR |= (self.cnt_gas % 4) << 28
    to_send[0].RDHR |= honda_checksum(to_send[0], 0x17C, 8) << 24
-    self.cnt_gas += 1
+    self.__class__.cnt_gas += 1
    return to_send

  def _send_brake_msg(self, brake):
@@ -91,39 +95,48 @@ class TestHondaSafety(unittest.TestCase):
    return to_send

  def _send_steer_msg(self, steer):
-    to_send = make_msg(0, 0xE4, 6)
+    bus = 2 if self.safety.get_honda_hw() == HONDA_BG_HW else 0
+    to_send = make_msg(bus, 0xE4, 6)
    to_send[0].RDLR = steer
    return to_send

  def test_spam_can_buses(self):
-    self.safety.set_honda_hw(HONDA_N_HW)
-    test_spam_can_buses(self, TX_MSGS)
+    hw_type = self.safety.get_honda_hw()
+    if hw_type == HONDA_N_HW:
+      tx_msgs = N_TX_MSGS
+    elif hw_type == HONDA_BH_HW:
+      tx_msgs = BH_TX_MSGS
+    elif hw_type == HONDA_BG_HW:
+      tx_msgs = BG_TX_MSGS
+    StdTest.test_spam_can_buses(self, tx_msgs)

  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0xE4)
+    hw = self.safety.get_honda_hw()
+    bus = 2 if hw == HONDA_BG_HW else 0
+    StdTest.test_relay_malfunction(self, 0xE4, bus=bus)

  def test_default_controls_not_allowed(self):
    self.assertFalse(self.safety.get_controls_allowed())

  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)

  def test_resume_button(self):
    RESUME_BTN = 4
    self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._button_msg(RESUME_BTN, 0x1A6))
+    self.safety.safety_rx_hook(self._button_msg(RESUME_BTN, 0x296))
    self.assertTrue(self.safety.get_controls_allowed())

  def test_set_button(self):
    SET_BTN = 3
    self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
+    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296))
    self.assertTrue(self.safety.get_controls_allowed())

  def test_cancel_button(self):
    CANCEL_BTN = 2
    self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN, 0x1A6))
+    self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN, 0x296))
    self.assertFalse(self.safety.get_controls_allowed())

  def test_sample_speed(self):
@@ -132,9 +145,9 @@ class TestHondaSafety(unittest.TestCase):
    self.assertEqual(1, self.safety.get_honda_moving())

  def test_prev_brake(self):
-    self.assertFalse(self.safety.get_honda_brake_pressed_prev())
+    self.assertFalse(self.safety.get_brake_pressed_prev())
    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_honda_brake_pressed_prev())
+    self.assertTrue(self.safety.get_brake_pressed_prev())

  def test_disengage_on_brake(self):
    self.safety.set_controls_allowed(1)
@@ -152,29 +165,15 @@ class TestHondaSafety(unittest.TestCase):
    self.safety.safety_rx_hook(self._alt_brake_msg(1))
    self.assertTrue(self.safety.get_controls_allowed())

-  def test_allow_brake_at_zero_speed(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.safety_rx_hook(self._brake_msg(False))  # reset no brakes
-
-  def test_not_allow_brake_when_moving(self):
-    # Brake was already pressed
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.safety.safety_rx_hook(self._speed_msg(100))
-    self.safety.set_controls_allowed(1)
-
-    self.safety.safety_rx_hook(self._brake_msg(True))
-    self.assertFalse(self.safety.get_controls_allowed())
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 0)

  def test_prev_gas(self):
    self.safety.safety_rx_hook(self._gas_msg(False))
-    self.assertFalse(self.safety.get_honda_gas_prev())
+    self.assertFalse(self.safety.get_gas_pressed_prev())
    self.safety.safety_rx_hook(self._gas_msg(True))
-    self.assertTrue(self.safety.get_honda_gas_prev())
+    self.assertTrue(self.safety.get_gas_pressed_prev())

  def test_prev_gas_interceptor(self):
    self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
@@ -190,6 +189,14 @@ class TestHondaSafety(unittest.TestCase):
    self.safety.safety_rx_hook(self._gas_msg(1))
    self.assertFalse(self.safety.get_controls_allowed())

+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(1)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
  def test_allow_engage_with_gas_pressed(self):
    self.safety.safety_rx_hook(self._gas_msg(1))
    self.safety.set_controls_allowed(1)
@@ -206,6 +213,17 @@ class TestHondaSafety(unittest.TestCase):
      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
      self.safety.set_gas_interceptor_detected(False)

+  def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    for g in range(0, 0x1000):
+      self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_gas_interceptor_detected(False)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+    self.safety.set_controls_allowed(False)
+
  def test_allow_engage_with_gas_interceptor_pressed(self):
    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
    self.safety.set_controls_allowed(1)
@@ -215,29 +233,32 @@ class TestHondaSafety(unittest.TestCase):
    self.safety.set_gas_interceptor_detected(False)

  def test_brake_safety_check(self):
-    for fwd_brake in [False, True]:
-      self.safety.set_honda_fwd_brake(fwd_brake)
-      for brake in np.arange(0, MAX_BRAKE + 10, 1):
-        for controls_allowed in [True, False]:
-          self.safety.set_controls_allowed(controls_allowed)
-          if fwd_brake:
-            send = False  # block openpilot brake msg when fwd'ing stock msg
-          elif controls_allowed:
-            send = MAX_BRAKE >= brake >= 0
-          else:
-            send = brake == 0
-          self.assertEqual(send, self.safety.safety_tx_hook(self._send_brake_msg(brake)))
-    self.safety.set_honda_fwd_brake(False)
+    hw = self.safety.get_honda_hw()
+    if hw == HONDA_N_HW:
+      for fwd_brake in [False, True]:
+        self.safety.set_honda_fwd_brake(fwd_brake)
+        for brake in np.arange(0, MAX_BRAKE + 10, 1):
+          for controls_allowed in [True, False]:
+            self.safety.set_controls_allowed(controls_allowed)
+            if fwd_brake:
+              send = False  # block openpilot brake msg when fwd'ing stock msg
+            elif controls_allowed:
+              send = MAX_BRAKE >= brake >= 0
+            else:
+              send = brake == 0
+            self.assertEqual(send, self.safety.safety_tx_hook(self._send_brake_msg(brake)))
+      self.safety.set_honda_fwd_brake(False)

  def test_gas_interceptor_safety_check(self):
-    for gas in np.arange(0, 4000, 100):
-      for controls_allowed in [True, False]:
-        self.safety.set_controls_allowed(controls_allowed)
-        if controls_allowed:
-          send = True
-        else:
-          send = gas == 0
-        self.assertEqual(send, self.safety.safety_tx_hook(self._send_interceptor_msg(gas, 0x200)))
+    if self.safety.get_honda_hw() == HONDA_N_HW:
+      for gas in np.arange(0, 4000, 100):
+        for controls_allowed in [True, False]:
+          self.safety.set_controls_allowed(controls_allowed)
+          if controls_allowed:
+            send = True
+          else:
+            send = gas == 0
+          self.assertEqual(send, self.safety.safety_tx_hook(self._send_interceptor_msg(gas, 0x200)))

  def test_steer_safety_check(self):
    self.safety.set_controls_allowed(0)
@@ -245,12 +266,12 @@ class TestHondaSafety(unittest.TestCase):
    self.assertFalse(self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))

  def test_spam_cancel_safety_check(self):
-    RESUME_BTN = 4
-    SET_BTN = 3
-    CANCEL_BTN = 2
-    BUTTON_MSG = 0x296
-    for hw in [HONDA_BG_HW, HONDA_BH_HW]:
-      self.safety.set_honda_hw(hw)
+    hw = self.safety.get_honda_hw()
+    if hw != HONDA_N_HW:
+      RESUME_BTN = 4
+      SET_BTN = 3
+      CANCEL_BTN = 2
+      BUTTON_MSG = 0x296
      self.safety.set_controls_allowed(0)
      self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN, BUTTON_MSG)))
      self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
@@ -260,12 +281,16 @@ class TestHondaSafety(unittest.TestCase):
      self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))

  def test_rx_hook(self):
+
    # checksum checks
    SET_BTN = 3
    for msg in ["btn1", "btn2", "gas", "speed"]:
      self.safety.set_controls_allowed(1)
      if msg == "btn1":
-        to_push = self._button_msg(SET_BTN, 0x1A6)
+        if self.safety.get_honda_hw() == HONDA_N_HW:
+          to_push = self._button_msg(SET_BTN, 0x1A6)  # only in Honda_NIDEC
+        else:
+          continue
      if msg == "btn2":
        to_push = self._button_msg(SET_BTN, 0x296)
      if msg == "gas":
@@ -273,23 +298,23 @@ class TestHondaSafety(unittest.TestCase):
      if msg == "speed":
        to_push = self._speed_msg(0)
      self.assertTrue(self.safety.safety_rx_hook(to_push))
-      to_push[0].RDHR = 0
+      to_push[0].RDHR = 0  # invalidate checksum
      self.assertFalse(self.safety.safety_rx_hook(to_push))
      self.assertFalse(self.safety.get_controls_allowed())

    # counter
    # reset wrong_counters to zero by sending valid messages
    for i in range(MAX_WRONG_COUNTERS + 1):
-      self.cnt_speed = 0
-      self.cnt_gas = 0
-      self.cnt_button = 0
+      self.__class__.cnt_speed += 1
+      self.__class__.cnt_gas += 1
+      self.__class__.cnt_button += 1
      if i < MAX_WRONG_COUNTERS:
        self.safety.set_controls_allowed(1)
-        self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
+        self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296))
        self.safety.safety_rx_hook(self._speed_msg(0))
        self.safety.safety_rx_hook(self._gas_msg(0))
      else:
-        self.assertFalse(self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6)))
+        self.assertFalse(self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296)))
        self.assertFalse(self.safety.safety_rx_hook(self._speed_msg(0)))
        self.assertFalse(self.safety.safety_rx_hook(self._gas_msg(0)))
        self.assertFalse(self.safety.get_controls_allowed())
@@ -297,10 +322,10 @@ class TestHondaSafety(unittest.TestCase):
    # restore counters for future tests with a couple of good messages
    for i in range(2):
      self.safety.set_controls_allowed(1)
-      self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
+      self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296))
      self.safety.safety_rx_hook(self._speed_msg(0))
      self.safety.safety_rx_hook(self._gas_msg(0))
-    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
+    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296))
    self.assertTrue(self.safety.get_controls_allowed())


@@ -309,8 +334,6 @@ class TestHondaSafety(unittest.TestCase):
    msgs = list(range(0x1, 0x800))
    fwd_brake = [False, True]

-    self.safety.set_honda_hw(HONDA_N_HW)
-
    for f in fwd_brake:
      self.safety.set_honda_fwd_brake(f)
      blocked_msgs = [0xE4, 0x194, 0x33D]
@@ -331,6 +354,117 @@ class TestHondaSafety(unittest.TestCase):

    self.safety.set_honda_fwd_brake(False)

+  def test_tx_hook_on_pedal_pressed(self):
+    for pedal in ['brake', 'gas', 'interceptor']:
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(1))
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(1))
+      elif pedal == 'interceptor':
+        # gas_interceptor_prev > INTERCEPTOR_THRESHOLD
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+
+      self.safety.set_controls_allowed(1)
+      hw = self.safety.get_honda_hw()
+      if hw == HONDA_N_HW:
+        self.safety.set_honda_fwd_brake(False)
+        self.assertFalse(self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+        self.assertFalse(self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
+      self.assertFalse(self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
+
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._send_steer_msg(0))
+      self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
+      elif pedal == 'interceptor':
+        self.safety.set_gas_interceptor_detected(False)
+
+  def test_tx_hook_on_pedal_pressed_on_unsafe_gas_mode(self):
+    for pedal in ['brake', 'gas', 'interceptor']:
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+      if pedal == 'brake':
+        # brake_pressed_prev and honda_moving
+        self.safety.safety_rx_hook(self._speed_msg(100))
+        self.safety.safety_rx_hook(self._brake_msg(1))
+        allow_ctrl = False
+      elif pedal == 'gas':
+        # gas_pressed_prev
+        self.safety.safety_rx_hook(self._gas_msg(1))
+        allow_ctrl = True
+      elif pedal == 'interceptor':
+        # gas_interceptor_prev > INTERCEPTOR_THRESHOLD
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+        self.safety.safety_rx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD+1, 0x201))
+        allow_ctrl = True
+
+      self.safety.set_controls_allowed(1)
+      hw = self.safety.get_honda_hw()
+      if hw == HONDA_N_HW:
+        self.safety.set_honda_fwd_brake(False)
+        self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_brake_msg(MAX_BRAKE)))
+        self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_interceptor_msg(INTERCEPTOR_THRESHOLD, 0x200)))
+      self.assertEqual(allow_ctrl, self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
+      # reset status
+      self.safety.set_controls_allowed(0)
+      self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+      self.safety.safety_tx_hook(self._send_brake_msg(0))
+      self.safety.safety_tx_hook(self._send_steer_msg(0))
+      self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200))
+      if pedal == 'brake':
+        self.safety.safety_rx_hook(self._speed_msg(0))
+        self.safety.safety_rx_hook(self._brake_msg(0))
+      elif pedal == 'gas':
+        self.safety.safety_rx_hook(self._gas_msg(0))
+      elif pedal == 'interceptor':
+        self.safety.set_gas_interceptor_detected(False)
+
+class TestHondaBoschGiraffeSafety(TestHondaSafety):
+  @classmethod
+  def setUp(cls):
+    TestHondaSafety.setUp()
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 0)
+    cls.safety.init_tests_honda()
+
+  def test_fwd_hook(self):
+    buss = range(0x0, 0x3)
+    msgs = range(0x1, 0x800)
+    hw = self.safety.get_honda_hw()
+    bus_rdr_cam = 2 if hw == HONDA_BH_HW else 1
+    bus_rdr_car = 0 if hw == HONDA_BH_HW else 2
+    bus_pt = 1 if hw == HONDA_BH_HW else 0
+
+    blocked_msgs = [0xE4, 0x33D]
+    for b in buss:
+      for m in msgs:
+        if b == bus_pt:
+          fwd_bus = -1
+        elif b == bus_rdr_cam:
+          fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
+        elif b == bus_rdr_car:
+          fwd_bus = bus_rdr_cam
+
+        # assume len 8
+        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+
+
+class TestHondaBoschHarnessSafety(TestHondaBoschGiraffeSafety):
+  @classmethod
+  def setUp(cls):
+    TestHondaBoschGiraffeSafety.setUp()
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_HARNESS, 0)
+    cls.safety.init_tests_honda()

 if __name__ == "__main__":
  unittest.main()
@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import make_msg, test_spam_can_buses
-from panda.tests.safety.test_honda import HONDA_BG_HW, HONDA_BH_HW
-
-MAX_BRAKE = 255
-
-H_TX_MSGS = [[0xE4, 0], [0x296, 1], [0x33D, 0]]  # Bosch Harness
-G_TX_MSGS = [[0xE4, 2], [0x296, 0], [0x33D, 2]]  # Bosch Giraffe
-
-
-class TestHondaSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 0)
-    cls.safety.init_tests_honda()
-
-  def test_spam_can_buses(self):
-    for hw in [HONDA_BG_HW, HONDA_BH_HW]:
-      self.safety.set_honda_hw(hw)
-      test_spam_can_buses(self, H_TX_MSGS if hw == HONDA_BH_HW else G_TX_MSGS)
-
-  def test_fwd_hook(self):
-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
-    for hw in [HONDA_BG_HW, HONDA_BH_HW]:
-      self.safety.set_honda_hw(hw)
-      bus_rdr_cam = 2 if hw == HONDA_BH_HW else 1
-      bus_rdr_car = 0 if hw == HONDA_BH_HW else 2
-      bus_pt = 1 if hw == HONDA_BH_HW else 0
-
-      blocked_msgs = [0xE4, 0x33D]
-      for b in buss:
-        for m in msgs:
-          if b == bus_pt:
-            fwd_bus = -1
-          elif b == bus_rdr_cam:
-            fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
-          elif b == bus_rdr_car:
-            fwd_bus = bus_rdr_cam
-
-          # assume len 8
-          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()
@@ -3,7 +3,7 @@ import unittest
 import numpy as np
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import test_relay_malfunction, make_msg, test_manually_enable_controls_allowed, test_spam_can_buses
+from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE

 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
@@ -15,6 +15,8 @@ RT_INTERVAL = 250000
 DRIVER_TORQUE_ALLOWANCE = 50;
 DRIVER_TORQUE_FACTOR = 2;

+SPEED_THRESHOLD = 30  # ~1kph
+
 TX_MSGS = [[832, 0], [1265, 0]]

 def twos_comp(val, bits):
@@ -41,6 +43,22 @@ class TestHyundaiSafety(unittest.TestCase):
    to_send[0].RDLR = buttons
    return to_send

+  def _gas_msg(self, val):
+    to_send = make_msg(0, 608)
+    to_send[0].RDHR = (val & 0x3) << 30;
+    return to_send
+
+  def _brake_msg(self, brake):
+    to_send = make_msg(0, 916)
+    to_send[0].RDHR = brake << 23;
+    return to_send
+
+  def _speed_msg(self, speed):
+    to_send = make_msg(0, 902)
+    to_send[0].RDLR = speed & 0x3FFF;
+    to_send[0].RDHR = (speed & 0x3FFF) << 16;
+    return to_send
+
  def _set_prev_torque(self, t):
    self.safety.set_hyundai_desired_torque_last(t)
    self.safety.set_hyundai_rt_torque_last(t)
@@ -56,10 +74,10 @@ class TestHyundaiSafety(unittest.TestCase):
    return to_send

  def test_spam_can_buses(self):
-    test_spam_can_buses(self, TX_MSGS)
+    StdTest.test_spam_can_buses(self, TX_MSGS)

  def test_relay_malfunction(self):
-    test_relay_malfunction(self, 832)
+    StdTest.test_relay_malfunction(self, 832)

  def test_default_controls_not_allowed(self):
    self.assertFalse(self.safety.get_controls_allowed())
@@ -75,7 +93,7 @@ class TestHyundaiSafety(unittest.TestCase):
          self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))

  def test_manually_enable_controls_allowed(self):
-    test_manually_enable_controls_allowed(self)
+    StdTest.test_manually_enable_controls_allowed(self)

  def test_enable_control_allowed_from_cruise(self):
    to_push = make_msg(0, 1057)
@@ -89,6 +107,25 @@ class TestHyundaiSafety(unittest.TestCase):
    self.safety.safety_rx_hook(to_push)
    self.assertFalse(self.safety.get_controls_allowed())

+  def test_disengage_on_gas(self):
+    self.safety.set_controls_allowed(True)
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_unsafe_mode_no_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._gas_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
+    self.safety.safety_rx_hook(self._gas_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
+
+  def test_brake_disengage(self):
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, SPEED_THRESHOLD)
+
  def test_non_realtime_limit_up(self):
    self.safety.set_hyundai_torque_driver(0, 0)
    self.safety.set_controls_allowed(True)
--- a/Show More
+++ b/Show More