fix hash

update ota/recovery url
update sentry
2026-08-22 00:33:48 +08:00 · 2020-11-10 16:40:47 +10:00 · 2020-11-10 12:38:24 +10:00 · 2020-09-23 15:07:23 +10:00 · 2020-07-03 11:35:47 +10:00 · 2020-06-22 11:50:30 +10:00
403 changed files with 25554 additions and 11913 deletions
@@ -20,7 +20,9 @@ a.out
 .*.un~
 *.tmp
 *.o
+*.o-*
 *.os
+*.os-*
 *.so
 *.a
 *.clb
@@ -54,12 +56,7 @@ xx
 panda_jungle

 .coverage*
+coverage.xml
 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
@@ -0,0 +1,436 @@
+dragonpilot 0.7.5.4
+========================
+* 加入 2018 skoda kodiaq 指紋v1。(感謝 @Gold 提供)
+* Added 2018 skoda kodiaq FPv1. (Thanks to @Gold)
+* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
+* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+dragonpilot 0.7.5.3
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+
+dragonpilot 0.7.5.2
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue. 
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+dragonpilot 0.7.5.1
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+dragonpilot 0.7.5.0
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
+
+2020-05-06
+========================
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* 中文版整合進 i18n 版。  
+* 刪除指紋暫存功能。
+* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
+* 新增行駛時關閉畫面功能。
+* 新增倒車時關閉畫面功能。
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* 新增自定義車型。
+
+2020-04-16
+========================
+* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
+* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
+* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
+* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
+
+2020-04-13
+========================
+* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
+* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
+* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
+
+2020-04-10
+========================
+* [DEVEL] 更新 panda 至最新的 comma:master 分支。
+* [DEVEL] 移除所有的第三方應用改為自動下載。
+* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+
+2020-03-31
+========================
+* [DEVEL] 更新至 2020-03-31 testing 分支。
+
+2020-03-27
+========================
+* [DEVEL] 更新至最新的 testing 分支:
+  * 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+  * 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+  * 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+  * 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+  * 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+  * 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+  * 加入韓文支持。(感謝 crwusiz 提供)
+  * 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+2020-03-22
+========================
+* [DEVEL] 更新至最新的 testing 分支。
+
+2020-03-17
+========================
+* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
+* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+
+2020-03-14
+========================
+* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
+* [DEVEL] 調高 Toyota 扭力容錯值。
+* [DEVEL] 優化讀取 dp 設定值。
+* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [DEVEL] dp 功能加入對 Subaru 車系的支援。
+
+2020-03-06
+========================
+* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [DEVEL] 建立 devel-i18n 取代 devel-en。
+* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
+
+2020-03-04
+========================
+* [DEVEL] 加入顯示駕駛監控畫面。
+* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+2020-02-25
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-21
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
+
+2020-02-14
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] 修正錯誤。
+
+2020-02-08
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
+* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [DEVEL] 加入神盾測速照相自動啟動的開關。
+* [DEVEL] 更新高德地圖至 v4.5.0.600053。
+* [DEVEL] 使用 0.6.6 版的更新系統。
+* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
+
+2020-01-31
+========================
+* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+
+2020-01-29
+========================
+* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+
+2020-01-23
+========================
+* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [DEVEL] 優化 appd。
+
+2020-01-19
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
+* [DEVEL] 調整 appd 和 ALC 邏輯。 
+
+2020-01-14
+========================
+* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+
+2020-01-08
+========================
+* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+2019-12-31
+========================
+* [DEVEL-ZHS] 加回第三方應用。
+
+2019-12-29
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+
+2019-12-18
+========================
+* [DEVEL] 修正自動換道邏輯。
+* [DEVEL] 更新 offroad 翻譯。
+* [DEVEL] 錯誤修正。
+* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+
+2019-12-17
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
+* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
+* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+
+2019-12-10
+========================
+* [DEVEL] 加入位智車機模式。 (Waze Mode)
+
+2019-11-21
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [DEVEL] 調整前車靜止移動偵測參數。
+* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
+
+2019-11-18
+========================
+* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+
+2019-11-18
+========================
+* [DEVEL] 修正 frame 翻譯。
+
+2019-11-15
+========================
+* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+
+2019-11-15
+========================
+* [DEVEL] 修正充電控制。 (感謝 KT 反應)
+* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-12
+========================
+* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
+
+2019-11-12
+========================
+* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
+
+2019-11-11
+========================
+* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [DEVEL] 更新 MiXplorer 至 v6.40.3
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+* [DEVEL] 前車靜止移動偵測加入偵測警示。
+
+2019-11-07
+========================
+* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+
+2019-11-06
+========================
+* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
+
+2019-11-05
+========================
+* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+
+2019-11-01
+========================
+* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+
+2019-11-01
+========================
+* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
+* [DEVEL] 更新 offroad 為多語言版
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+
+2019-10-29
+========================
+* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
+
+2019-10-28
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
+* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+
+2019-10-18
+========================
+* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
+* [DEVEL] 修正 allow_gas 功能。
+
+2019-10-18
+========================
+* [DEVEL] 加入彎道減速功能開關。
+* [DEVEL] 強迫使用 dp 版 Panda 韌體。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+
+2019-10-17
+========================
+* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
+* [DEVEL] 修正充電控制讀取預設值的錯誤。
+* [DEVEL] 修正無法顯示更新記錄的錯誤。
+
+2019-10-16
+========================
+* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
+* [DEVEL] 更新高德地圖至 v4.3.0
+* [DEVEL] 刪除 bs (Branch Switcher)
+
+2019-10-14
+========================
+* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [DEVEL] 清除不再使用的 dp params。
+* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
+* [DEVEL] 加入刷新 Panda 韌體按鈕。
+
+2019-10-11
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。 
+* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+
+2019-10-09
+========================
+* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+2019-10-08
+========================
+* [DEVEL] 加回駕駛監控開關。
+* [DEVEL] 加入 bs (branch switcher) 程式。
+
+2019-10-07
+========================
+* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+
+2019-10-05
+========================
+* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
+* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。 
+
+2019-09-30
+========================
+* [DEVEL] 更新 curvature learner 版本至 v4。
+* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+
+2019-09-27
+========================
+* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [DEVEL] 加入可開關駕駛監控的程式碼。
+* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+
+2019-09-26
+========================
+* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+
+2019-09-24
+========================
+* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+
+2019-09-23
+========================
+* [DEVEL] 優化讀取 params 的次數。
+* [DEVEL] 加入可開關的車道偏移警示。
+* [DEVEL] 修正充電控制邏輯。
+* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+
+2019-09-20
+========================
+* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+
+2019-09-16
+========================
+* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+
+2019-09-13
+========================
+* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
+
+2019-09-09
+========================
+* [DEVEL] 加入 GreyPanda 模式。
+
+2019-08-28
+========================
+* [DEVEL] 加入可調警示音量。
+
+2019-08-27
+========================
+* [DEVEL] 自動關機改為可調時長。
@@ -0,0 +1,195 @@
+dragonpilot 0.7.5
+========================
+* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
+* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camery Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+
+dragonpilot 0.7.4
+========================
+* [2020-04-10] 移除所有的第三方應用改為自動下載。
+* [2020-04-10] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
+* [2020-03-31] 還原部分修改代碼以達到 comma ai 安全準則。 (Reverted changes to panda safety code to comply with comma ai safety guideline.)
+* [2020-03-31] 調整「啟用原廠 DSU 模式」為踩剎車時會暫時斷開控制 。(Enable Stock DSU Mode will temporary disable controls when brake is pressed.)
+* [2020-03-27] 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
+* [2020-03-27] 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
+* [2020-03-27] 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
+* [2020-03-27] 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
+* [2020-03-27] 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
+* [2020-03-27] 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
+* [2020-03-27] 加入韓文支持。(感謝 crwusiz 提供)
+* [2020-03-27] 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
+
+dragonpilot 0.7.3
+========================
+* [2020-03-17] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
+* [2020-03-14] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
+* [2020-03-14] 加入自動關機開關。(感謝 Rzxd 建議)
+* [2020-03-14] 調高 Toyota 扭力容錯值。
+* [2020-03-14] 優化讀取 dp 設定值。
+* [2020-03-14] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
+* [2020-03-14] dp 功能加入對 Subaru 車系的支援。
+* [2020-03-06] 加入葡萄牙語支持。(感謝 berno22 提供)
+* [2020-03-06] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
+* [2020-03-04] 加入顯示駕駛監控畫面。
+* [2020-03-04] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
+* [2020-03-04] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
+
+dragonpilot 0.7.2
+========================
+* [2020-02-08] dp 功能加入對現代 (Hyundai) 車系的支援。
+* [2020-02-08] 加入神盾測速照相自動啟動的開關。
+* [2020-02-08] 更新高德地圖至 v4.5.0.600053。
+* [2020-02-08] 使用 0.6.6 版的更新系統。
+* [2020-02-08] 修正急剎問題。(感謝 kumar 提供)
+* [2020-01-31] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
+* [2020-01-29] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
+* [2020-01-23] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
+* [2020-01-23] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
+* [2020-01-23] 優化 appd。
+
+dragonpilot 0.7.1
+========================
+* [2020-01-19] 調整 appd 和 ALC 邏輯。 
+* [2020-01-14] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
+* [2020-01-18] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
+* [2020-01-18] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
+
+dragonpilot 0.7.0
+========================
+* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
+* [2019-12-29] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
+* [2019-12-29] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
+* [2019-12-18] 修正自動換道邏輯。
+* [2019-12-18] 更新 offroad 翻譯。
+* [2019-12-18] 錯誤修正。
+* [2019-12-18] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
+* [2019-12-17] 加入輔助換道開關。（24mph / 40kph 以上)
+* [2019-12-17] 加入自動換道開關。（40mph / 65kph 以上)
+* [2019-12-17] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
+* [2019-12-17] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
+* [2019-12-17] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
+* [2019-12-10] 加入位智車機模式。 (Waze Mode)
+* [2019-11-21] 修正 offroad 翻譯。(感謝 鄧育林 回報)
+* [2019-11-21] 調整前車靜止移動偵測參數。
+* [2019-11-21] 前車靜止移動偵測可在未啟用 dp 時運作。
+* [2019-11-18] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
+* [2019-11-18] 修正 frame 翻譯。
+
+dragonpilot 0.6.6
+========================
+* [2019-11-15] 修正不會充電的錯誤。 (感謝 袁昊 反應)
+* [2019-11-15] 修正充電控制。 (感謝 KT 反應)
+* [2019-11-15] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
+* [2019-11-12] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
+* [2019-11-12] 自動偵測並鎖定硬體 (EON / UNO)。
+* [2019-11-12] 加入鎖定硬體 (EON / UNO) 的程式碼。
+* [2019-11-11] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
+* [2019-11-11] 更新 MiXplorer 至 v6.40.3
+* [2019-11-11] 前車靜止移動偵測加入偵測警示。
+* [2019-11-07] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
+* [2019-11-07] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
+* [2019-11-06] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
+
+dragonpilot 0.6.5
+========================
+* [2019-11-05] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
+* [2019-11-01] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
+* [2019-11-01] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
+* [2019-11-01] 移除 Miui 字型，縮小 dp 使用空間。
+* [2019-11-01] 更新 offroad 為多語言版
+* [2019-10-29] 加入 SnG 補丁。（感謝 楊雅智)
+* [2019-10-28] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
+* [2019-10-22] 移除強迫網路連線提示。(感謝 Shell)
+* [2019-10-18] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
+* [2019-10-18] 移除強迫網路連線提示。(感謝 Shell)
+* [2019-10-18] 修正 allow_gas 功能。
+* [2019-10-18] 加入彎道減速功能開關。
+* [2019-10-18] 強迫使用 dp 版 Panda 韌體。
+* [2019-10-17] 加入「車型」顯示於 dp 設定畫面。
+* [2019-10-17] 修正充電控制讀取預設值的錯誤。
+* [2019-10-17] 修正無法顯示更新記錄的錯誤。
+* [2019-10-17] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
+* [2019-10-17] 下載更新記錄時使用 "no-cache" 標頭。
+* [2019-10-17] 更新高德地圖至 v4.3.0
+* [2019-10-14] 啟用自動更新功能。(感謝 鄧育林 提供)
+* [2019-10-14] 清除不再使用的 dp params。
+* [2019-10-14] 加入數字電量指示。(感謝 鄧育林 建議)
+* [2019-10-14] 加入刷新 Panda 韌體按鈕。
+* [2019-10-11] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
+* [2019-10-11] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
+
+dragonpilot 0.6.4
+========================
+* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
+* [2019-10-08] 加回駕駛監控開關。
+* [2019-10-07] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
+* [2019-10-05] 移除 curvature learner: 轉角明顯比原廠小。
+* [2019-09-30] 更新 curvature learner 版本至 v4。
+* [2019-09-30] Lexus ISH 使用更精確的 EPS Steering Angle Sensor 
+* [2019-09-27] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
+* [2019-09-27] 加入可開關駕駛監控的程式碼。
+* [2019-09-27] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
+* [2019-09-27] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
+* [2019-09-26] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
+* [2019-09-24] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
+* [2019-09-24] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
+* [2019-09-23] 優化讀取 params 的次數。
+* [2019-09-23] 加入可開關的車道偏移警示。
+* [2019-09-23] 修正充電控制邏輯。
+* [2019-09-23] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
+* [2019-09-20] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
+* [2019-09-16] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
+* [2019-09-16] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
+* [2019-09-13] 行車介面加入可開關的「速度顯示」設定。
+* [2019-09-09] 加入 GreyPanda 模式。
+* [2019-08-28] 加入可調警示音量。
+* [2019-08-27] 自動關機改為可調時長。
+
+dragonpilot 0.6.3
+========================
+* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
@@ -0,0 +1,120 @@
+2020-06-22 (0.7.5)
+========================
+* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
+* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
+
+2020-06-18 (0.7.5)
+========================
+* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
+* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
+
+2020-05-30 (0.7.5)
+========================
+* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
+* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
+
+2020-05-28 (0.7.5)
+========================
+* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
+* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
+* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
+* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
+* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
+* Fixed issue showing "pedalPressed" error. (Thanks to @Wei) 
+
+2020-05-26 (0.7.5)
+========================
+* 將剎車狀熊顯示於 dp 資訊欄。
+* Added brake indicator to dp infobar.
+* 修正「溫度監控」燈示。
+* Fixed "Temp monitor" indicator.
+* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
+* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
+* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
+* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22) 
+
+2020-05-25 (0.7.5)
+========================
+* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
+* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
+
+2020-05-21 (0.7.5)
+========================
+* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
+* Updated to stop charging after 3 hrs. (Thanks to @Wei)
+* 移除行車記錄下的「碰撞偵測」功能。
+* Removed Impact Detection in Dashcam.
+* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
+* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
+* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
+* Fixed alert issue in waze mode. (Thanks to @axandres)
+* 修正無法顯示更新中圖示的問題。
+* Fixed unable to display "UPDATING" icon issue. 
+
+2020-05-20 (0.7.5)
+========================
+* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
+* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
+* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
+* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
+* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
+* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
+
+2020-05-19 (0.7.5)
+========================
+* 加入 DragonEnableAutoUpdate 預設值。
+* Added DragonEnableAutoUpdate default value.
+
+2020-05-18 (0.7.5)
+========================
+* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
+* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model"
+
+2020-05-16 (0.7.5)
+========================
+* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
+* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
+* 更新 appd 使用 cnpmjs 來下載 APKs。
+* Updated appd to use cnpmjs to download APKs.
+* 修正更新服務。(感謝 @Wei)
+* Fixed Update Service. (Thanks to @Wei)
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
+
+2020-05-15 (0.7.5)
+========================
+* 新增「通過移動網路上傳」開關
+* Added Upload Over Mobile Network toggle.
+* 新增「通過熱點上傳」開關
+* Added Upload Over Hotspot toggle.
+* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
+* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
+* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
+* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
+
+2020-05-10
+========================
+* 基於最新 openpilot 0.7.5 devel-staging.
+* Based on latest openpilot 0.7.5 devel-staging.
+* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
+* Updated dp logo, special thanks to @wabes for the design.
+* 簡/繁中文版和 i18n 整合成為單一版本。  
+* Merged zhs/zht/i18n versions into one.
+* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
+* Added China Camry Hybrid FPv2. (Thanks to @杜子腾) 
+* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
+* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
+* 新增行駛時關閉畫面功能。
+* Added Screen off while driving feature.
+* 新增倒車時關閉畫面功能。
+* Added Screen off while reversing feature.
+* 新增駕駛介面加入「加速模式」切換鈕。 
+* Added acceleration profile toggle onto driving UI.
+* 新增自定車型功能，取代指紋暫存功能。
+* Replaced fingerprint cache with custom car model selector.
+* 新增可調亮度。
+* Added Brightness changer.
+* 新增部分德語支持。(特別感謝 @arne182 提供)
+* Added partial de_DE language support (Thanks to @arne182)
+* 新增停車碰撞偵測記錄功能。
+* Added off road impact detection to dashcam.
@@ -57,106 +57,125 @@ openpilot should preserve all other vehicle's stock features, including, but are
 Supported Hardware
 ------

-At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. In the future, we'd like to support other platforms as well, like gaming PCs.
+At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).

 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>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             |
+| Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
+| Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | 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     | Civic Sedan/Coupe 2019-20     | Honda Sensing     | Stock            | 0mph               | 2mph<sup>2</sup>  |
+| Honda     | CR-V 2015-16                  | Touring           | openpilot        | 25mph<sup>1</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     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</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              |
+| Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
+| Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2016-18                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Pilot 2019                    | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Honda     | Ridgeline 2017-20             | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
+| Lexus     | CT Hybrid 2017-18             | All               | Stock<sup>3</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     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RX 2016-17                    | All               | Stock<sup>3</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              |
+| Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Avalon 2016                   | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon 2017-18                | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>4</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 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</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 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</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    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Prius 2016                    | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius 2017-19                 | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 2016                     | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2017-18                  | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Rav4 2019-20                  | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2016              | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2017-18           | All               | Stock<sup>3</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              |
+| Toyota    | Sienna 2018                   | All               | Stock<sup>3</sup>| 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 />
+<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
+<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>3</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>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <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>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         |
+| Buick     | Regal 2018<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Cadillac  | ATS 2018<sup>1</sup>          | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Malibu 2017<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chevrolet | Volt 2017-18<sup>1</sup>      | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Chrysler  | Pacifica 2017-18              | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
+| Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Genesis   | G80 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G90 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
+| GMC       | Acadia Denali 2018<sup>3</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| Hyundai   | Elantra 2017-19<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
+| Hyundai   | Genesis 2015-16<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 37mph        |
+| Hyundai   | Ioniq 2017<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq 2019 EV<sup>2</sup>     | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Kona 2017-19<sup>2</sup>      | SCC + LKAS        | Stock            | 22mph              | 0mph         |
+| Hyundai   | Kona 2019 EV<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Hyundai   | Palisade 2020<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Santa Fe 2019<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
+| Hyundai   | Sonata 2020<sup>2</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       | Forte 2018<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Optima 2017<sup>2</sup>       | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
+| Kia       | Optima 2019<sup>2</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Stinger 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Nissan    | Leaf 2019                     | Propilot          | Stock            | 0mph               | 0mph         |
+| Nissan    | X-Trail 2018                  | Propilot          | Stock            | 0mph               | 0mph         |
+| Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
+| Subaru    | Impreza 2018-20               | EyeSight          | Stock            | 0mph               | 0mph         |
+| Volkswagen| Golf 2016-19<sup>3</sup>      | Driver Assistance | Stock            | 0mph               | 0mph         |

-<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 />
+<sup>1</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>2</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>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 />
+
+Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)

 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`.

+To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
+
 Installation Instructions
 ------

-Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
+Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.

-Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
+Follow these [video instructions](https://youtu.be/3nlkomHathI) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.

 Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.

@@ -174,7 +193,7 @@ Many factors can impact the performance of openpilot ALC and openpilot LDW, caus
 * Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
 * The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
 * Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
+* The device is mounted incorrectly.
 * When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
 * In the presence of restricted lanes or construction zones.
 * When driving on highly banked roads or in presence of strong cross-wind.
@@ -194,7 +213,7 @@ Many factors can impact the performance of openpilot ACC and openpilot FCW, caus
 * Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
 * The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
 * Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
-* The EON is mounted incorrectly.
+* The device is mounted incorrectly.
 * Approaching a toll booth, a bridge or a large metal plate.
 * When driving on roads with pedestrians, cyclists, etc...
 * In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
@@ -212,13 +231,13 @@ The list above does not represent an exhaustive list of situations that may inte
 Limitations of openpilot DM
 ------

-openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
+openpilot DM should not be considered an exact measurement of the alertness of the driver.

 Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:

 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver face is partially or completely outside field of view of the driver facing camera.
+* The driver's face is partially or completely outside field of view of the driver facing camera.
 * Right hand driving vehicles.
 * The driver facing camera is obstructed, covered, or damaged.

@@ -240,7 +259,7 @@ Safety and Testing
 ----

 * openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
-* openpilot has software in the loop [tests](run_docker_tests.sh) that run on every commit.
+* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
 * The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
 * panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
 * Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
@@ -267,15 +286,15 @@ Directory Structure
 ------
    .
    ├── apk                 # The apk files used for the UI
-    ├── cereal              # The messaging spec and libs used for all logs on EON
+    ├── cereal              # The messaging spec and libs used for all logs
    ├── common              # Library like functionality we've developed here
    ├── installer/updater   # Manages auto-updates of openpilot
    ├── opendbc             # Files showing how to interpret data from cars
    ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # Libraries used on EON
-    ├── pyextra             # Libraries used on EON
+    ├── phonelibs           # Libraries used on NEOS devices
+    ├── pyextra             # Libraries used on NEOS devices
    └── selfdrive           # Code needed to drive the car
-        ├── assets          # Fonts and images for UI
+        ├── assets          # Fonts, images, and sounds for UI
        ├── athena          # Allows communication with the app
        ├── boardd          # Daemon to talk to the board
        ├── camerad         # Driver to capture images from the camera sensors
@@ -289,7 +308,7 @@ Directory Structure
        ├── modeld          # Driving and monitoring model runners
        ├── proclogd        # Logs information from proc
        ├── sensord         # IMU / GPS interface code
-        ├── tests           # Unit tests, system tests and a car simulator
+        ├── test            # Unit tests, system tests and a car simulator
        └── ui              # The UI

 To understand how the services interact, see `cereal/service_list.yaml`.
@@ -308,3 +327,8 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 ---

 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+
+[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
+[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
+[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
@@ -1,3 +1,13 @@
+Version 0.7.5 (2020-05-13)
+========================
+* Right-Hand Drive support for both driving and driver monitoring!
+* New driving model: improved at sharp turns and lead speed estimation
+* New driver monitoring model: overall improvement on comma two
+* Driver camera preview in settings to improve mounting position
+* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
+* 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
+* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
+
 Version 0.7.4 (2020-03-20)
 ========================
 * New driving model: improved lane changes and lead car detection
@@ -14,39 +14,55 @@ AddOption('--asan',
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
+if arch == "aarch64" and not os.path.isdir("/system"):
+  arch = "larch64"

-if arch == "aarch64":
+webcam = bool(ARGUMENTS.get("use_webcam", 0))
+
+if arch == "aarch64" or arch == "larch64":
  lenv = {
    "LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
    "PATH": os.environ['PATH'],
-    "ANDROID_DATA": os.environ['ANDROID_DATA'],
-    "ANDROID_ROOT": os.environ['ANDROID_ROOT'],
  }

+  if arch == "aarch64":
+    # android
+    lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
+    lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
+
  cpppath = [
    "#phonelibs/opencl/include",
  ]
+
  libpath = [
-    "#phonelibs/snpe/aarch64-android-clang3.8",
    "/usr/lib",
    "/data/data/com.termux/files/usr/lib",
    "/system/vendor/lib64",
    "/system/comma/usr/lib",
    "#phonelibs/nanovg",
-    "#phonelibs/libyuv/lib",
  ]

-  cflags = ["-DQCOM", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+  if arch == "larch64":
+    cpppath += ["#phonelibs/capnp-cpp/include"]
+    libpath += ["#phonelibs/snpe/larch64"]
+    libpath += ["#phonelibs/libyuv/larch64/lib"]
+    libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
+    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
+    rpath = ["/usr/local/lib"]
+  else:
+    libpath += ["#phonelibs/snpe/aarch64"]
+    libpath += ["#phonelibs/libyuv/lib"]
+    cflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
+    rpath = ["/system/vendor/lib64"]

-  rpath = ["/system/vendor/lib64"]
 else:
  lenv = {
    "PATH": "#external/bin:" + os.environ['PATH'],
  }
  cpppath = [
    "#phonelibs/capnp-cpp/include",
-    "#phonelibs/capnp-c/include",
    "#phonelibs/zmq/x64/include",
    "#external/tensorflow/include",
  ]
@@ -54,7 +70,6 @@ else:
  if arch == "Darwin":
    libpath = [
      "#phonelibs/capnp-cpp/mac/lib",
-      "#phonelibs/capnp-c/mac/lib",
      "#phonelibs/libyuv/mac/lib",
      "#cereal",
      "#selfdrive/common",
@@ -64,7 +79,6 @@ else:
  else:
    libpath = [
      "#phonelibs/capnp-cpp/x64/lib",
-      "#phonelibs/capnp-c/x64/lib",
      "#phonelibs/snpe/x86_64-linux-clang",
      "#phonelibs/zmq/x64/lib",
      "#phonelibs/libyuv/x64/lib",
@@ -113,11 +127,10 @@ env = Environment(
    "#phonelibs/bzip2",
    "#phonelibs/libyuv/include",
    "#phonelibs/openmax/include",
-    "#phonelibs/json/src",
    "#phonelibs/json11",
    "#phonelibs/eigen",
    "#phonelibs/curl/include",
-    "#phonelibs/opencv/include",
+    #"#phonelibs/opencv/include", # use opencv4 instead
    "#phonelibs/libgralloc/include",
    "#phonelibs/android_frameworks_native/include",
    "#phonelibs/android_hardware_libhardware/include",
@@ -175,10 +188,12 @@ def abspath(x):
    # rpath works elsewhere
    return x[0].path.rsplit("/", 1)[1][:-3]

-#zmq = 'zmq'
 # still needed for apks
-zmq = FindFile("libzmq.a", libpath)
-Export('env', 'arch', 'zmq', 'SHARED')
+if arch == 'larch64':
+  zmq = 'zmq'
+else:
+  zmq = FindFile("libzmq.a", libpath)
+Export('env', 'arch', 'zmq', 'SHARED', 'webcam')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -196,7 +211,7 @@ Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
 if SHARED:
  common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
 else:
-  common = [_common, 'json']
+  common = [_common, 'json11']
  visionipc = _visionipc
  gpucommon = [_gpucommon] + _gpu_libs

@@ -215,6 +230,7 @@ if arch != "Darwin":
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
+SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])

 SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/proclogd/SConscript'])
@@ -229,5 +245,4 @@ if arch == "aarch64":

 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/locationd/kalman/SConscript'])
-
-# TODO: finish cereal, dbcbuilder, MPC
+SConscript(['tools/lib/index_log/SConscript'])
@@ -5,10 +5,6 @@ messaging_dir = Dir('messaging')

 # TODO: remove src-prefix and cereal from command string. can we set working directory?
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(
-  ['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
 env.Command(
  ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
  ['car.capnp', 'log.capnp'],
@@ -22,14 +18,12 @@ if shutil.which('capnpc-java'):

 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([
-    'gen/c/car.capnp.c',
-    'gen/c/log.capnp.c',
    'gen/cpp/car.capnp.c++',
    'gen/cpp/log.capnp.c++',
  ])

 env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
+env.SharedLibrary('cereal_shared', cereal_objects)

 cereal_dir = Dir('.')
 services_h = env.Command(
@@ -91,14 +91,20 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    carUnrecognized @66;
    radarCommIssue @67;
    driverMonitorLowAcc @68;
-    # dragonpilot
-    manualSteeringRequired @69;
-    manualSteeringRequiredBlinkersOn @70;
-    leadCarMoving @71;
-    leadCarDetected @72;
-    preAutoLaneChangeLeft @73;
-    preAutoLaneChangeRight @74;
-    autoLaneChange @75;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    gasPressed @73;
+    stockFcw @74;
+    # dp
+    preLaneChangeLeftALC @75;
+    preLaneChangeRightALC @76;
+    laneChangeALC @77;
+    manualSteeringRequired @78;
+    manualSteeringRequiredBlinkersOn @79;
+    leadCarMoving @80;
+    leadCarDetected @81;
  }
 }

@@ -127,12 +133,14 @@ struct CarState {
  brakeLights @19 :Bool;

  # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringRate @15 :Float32;   # deg/s
-  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringAngle @7 :Float32;       # deg
+  steeringRate @15 :Float32;       # deg/s
+  steeringTorque @8 :Float32;      # TODO: standardize units
  steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
+  steerWarning @35 :Bool;          # temporary steer unavailble
+  steerError @36 :Bool;            # permanent steer error
  stockAeb @30 :Bool;
  stockFcw @31 :Bool;
  espDisabled @32 :Bool;
@@ -157,9 +165,12 @@ struct CarState {
  # clutch (manual transmission only)
  clutchPressed @28 :Bool;

+  # dp
+  lkMode @37 :Bool;
+
  # 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
@@ -317,6 +328,7 @@ struct CarControl {
      chimeWarning2 @5;
      chimeWarningRepeat @6;
      chimePrompt @7;
+      chimeWarning2Repeat @8;
    }
  }
 }
@@ -387,6 +399,7 @@ struct CarParams {
  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
  communityFeature @46: Bool;  # true if a community maintained feature is detected
  fingerprintSource @49: FingerprintSource;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network

  struct LateralParams {
    torqueBP @0 :List(Int32);
@@ -464,8 +477,9 @@ struct CarParams {

  enum TransmissionType {
    unknown @0;
-    automatic @1;
-    manual @2;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
  }

  struct CarFw {
@@ -504,4 +518,9 @@ struct CarParams {
    fw @1;
    fixed @2;
  }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
 }
@@ -129,6 +129,7 @@ struct FrameData {
  gainFrac @15 :Float32;
  focusVal @16 :List(Int16);
  focusConf @17 :List(UInt8);
+  sharpnessScore @18 :List(UInt16);

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
@@ -296,7 +297,7 @@ struct ThermalData {
  memUsedPercent @19 :Int8;
  cpuPerc @20 :Int8;

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

  enum ThermalStatus {
    green @0;   # all processes run
@@ -354,6 +355,25 @@ struct HealthData {

  enum FaultType {
    relayMalfunction @0;
+    unusedInterruptHandled @1;
+    interruptRateCan1 @2;
+    interruptRateCan2 @3;
+    interruptRateCan3 @4;
+    interruptRateTach @5;
+    interruptRateGmlan @6;
+    interruptRateInterrupts @7;
+    interruptRateSpiDma @8;
+    interruptRateSpiCs @9;
+    interruptRateUart1 @10;
+    interruptRateUart2 @11;
+    interruptRateUart3 @12;
+    interruptRateUart5 @13;
+    interruptRateUartDma @14;
+    interruptRateUsb @15;
+    interruptRateTim1 @16;
+    interruptRateTim3 @17;
+    registerDivergent @18;
+    # Update max fault type in boardd when adding faults
  }

  enum HwType {
@@ -780,8 +800,9 @@ struct PathPlan {
  desire @17 :Desire;
  laneChangeState @18 :LaneChangeState;
  laneChangeDirection @19 :LaneChangeDirection;
+
  # dragonpilot
-  autoLCAllowed @20 :Bool;
+  alcAllowed @20 :Bool;

  enum Desire {
    none @0;
@@ -809,7 +830,7 @@ struct PathPlan {

 struct LiveLocationKalman {

-  # More info on reference frames: 
+  # More info on reference frames:
  # https://github.com/commaai/openpilot/tree/master/common/transformations

  positionECEF @0 : Measurement;
@@ -825,10 +846,10 @@ struct LiveLocationKalman {
  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;
@@ -839,7 +860,7 @@ struct LiveLocationKalman {
  gpsTimeOfWeek @14 :Float64;
  status @15 :Status;
  unixTimestampMillis @16 :Int64;
-  
+
  enum Status {
    uninitialized @0;
    uncalibrated @1;
@@ -1779,12 +1800,14 @@ struct UiLayoutState {
  activeApp @0 :App;
  sidebarCollapsed @1 :Bool;
  mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;

  enum App {
    home @0;
    music @1;
    nav @2;
    settings @3;
+    none @4;
  }
 }

@@ -1883,6 +1906,7 @@ struct DMonitoringState {
  awarenessPassive @12 :Float32;
  isLowStd @13 :Bool;
  hiStdCount @14 :UInt32;
+  isPreview @15 :Bool;
 }

 struct Boot {
@@ -1975,7 +1999,7 @@ struct Event {
    sendcan @17 :List(CanData);
    logMessage @18 :Text;
    liveCalibration @19 :LiveCalibrationData;
-    androidLogEntry @20 :AndroidLogEntry;
+    androidLog @20 :AndroidLogEntry;
    gpsLocation @21 :GpsLocationData;
    carState @22 :Car.CarState;
    carControl @23 :Car.CarControl;
@@ -34,7 +34,8 @@ extra_compile_args = ["-std=c++11"]
 libraries = ['zmq']
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg

-if ARCH == "aarch64":
+if ARCH == "aarch64" and os.path.isdir("/system"):
+  # android
  extra_compile_args += ["-Wno-deprecated-register"]
  libraries += ['gnustl_shared']

@@ -76,6 +76,7 @@ carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
 dMonitoringState: [8073, true, 5., 1]
+offroadLayout: [8074, false, 0.]

 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
@@ -103,19 +104,31 @@ testJoystick: [8056, false, 0.]
 # gpsd -- publishes EON's gps
 #   publishes: gpsNMEA

-# visiond -- talks to the cameras, runs the model, saves the videos
-#   publishes:  frame, model, driverMonitoring, cameraOdometry, thumbnail
+# camerad -- publishes camera frames
+#   publishes: frame, frontFrame, thumbnail
+#   subscribes: driverState
+
+# dmonitoringmodeld -- runs face detection on camera frames
+#   publishes: driverState

 # **** stateful data transformers ****

+# modeld -- runs & publishes the model 
+#   publishes: model, cameraOdometry
+#   subscribes: liveCalibration, pathPlan
+
 # plannerd -- decides where to drive the car
 #   subscribes: carState, model, radarState, controlsState, liveParameters
 #   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc

 # controlsd -- drives the car by sending CAN messages to panda
-#   subscribes: can, thermal, health, plan, pathPlan, driverMonitoring, liveCalibration
+#   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
 #   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams

+# dmonitoringd -- processes driver monitoring data and publishes driver awareness
+#   subscribes: driverState, liveCalibration, carState, model, gpsLocation
+#   publishes: dMonitoringState
+
 # radard -- processes the radar and vision data
 #   subscribes: can, controlsState, model, liveParameters
 #   publishes:  radarState, liveTracks
@@ -0,0 +1,7 @@
+coverage:
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+
@@ -135,8 +135,6 @@ def get_network_strength(network_type):
  # 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:
@@ -174,7 +172,6 @@ def get_network_strength(network_type):
    return lvl

  def get_gsm_level(asu):
-    lvl = NetworkStrength.unknown
    if asu <= 2 or asu == 99:
      lvl = NetworkStrength.unknown
    elif asu >= 12:
@@ -232,7 +229,7 @@ def get_network_strength(network_type):
  if network_type == NetworkType.none:
    return network_strength
  if network_type == NetworkType.wifi:
-    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('ascii')
+    out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
    network_strength = NetworkStrength.unknown
    for line in out.split('\n'):
      signal_str = "SignalStrength: "
@@ -251,7 +248,7 @@ def get_network_strength(network_type):
    return network_strength
  else:
    # check cell strength
-    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('ascii')
+    out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
    for line in out.split('\n'):
      if "mSignalStrength" in line:
        arr = line.split(' ')
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3.7
+import subprocess
+from common.params import Params
+params = Params()
+
+def get_last_modified():
+  return Params().get('DragonLastModified', encoding='utf-8')
+
+def is_online():
+  return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+
+def common_controller_update():
+  dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+  if dragon_lat_ctrl:
+    dragon_enable_steering_on_signal = True if (params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" and params.get("LaneChangeEnabled", encoding='utf8') == "0") else False
+    if dragon_enable_steering_on_signal:
+      try:
+        dragon_blinker_off_timer = float(params.get("DragonBlinkerOffTimer", encoding='utf8')) * 100
+      except (TypeError, ValueError):
+        dragon_blinker_off_timer = 0
+    else:
+      dragon_blinker_off_timer = 0
+  else:
+    dragon_enable_steering_on_signal = False
+    dragon_blinker_off_timer = 0
+  return dragon_lat_ctrl, dragon_enable_steering_on_signal, dragon_blinker_off_timer
+
+def common_controller_ctrl(enabled, dragon_lat_ctrl, dragon_enable_steering_on_signal, blinker_on, steer_req):
+  if enabled:
+    if (dragon_enable_steering_on_signal and blinker_on) or not dragon_lat_ctrl:
+      steer_req = 0 if isinstance(steer_req, int) else False
+
+  return steer_req
@@ -6,5 +6,4 @@ class FirstOrderFilter():

  def update(self, x):
    self.x = (1. - self.k) * self.x + self.k * x
-
-
+    return self.x
@@ -52,7 +52,7 @@ class UnknownKeyName(Exception):


 keys = {
-  "AccessToken": [TxType.PERSISTENT],
+  "AccessToken": [TxType.CLEAR_ON_MANAGER_START],
  "AthenadPid": [TxType.PERSISTENT],
  "CalibrationParams": [TxType.PERSISTENT],
  "CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
@@ -70,6 +70,7 @@ keys = {
  "GithubSshKeys": [TxType.PERSISTENT],
  "HasAcceptedTerms": [TxType.PERSISTENT],
  "HasCompletedSetup": [TxType.PERSISTENT],
+  "IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
  "IsLdwEnabled": [TxType.PERSISTENT],
  "IsGeofenceEnabled": [TxType.PERSISTENT],
  "IsMetric": [TxType.PERSISTENT],
@@ -78,6 +79,7 @@ keys = {
  "IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
  "IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
  "IsUploadRawEnabled": [TxType.PERSISTENT],
+  "LastAthenaPingTime": [TxType.PERSISTENT],
  "LastUpdateTime": [TxType.PERSISTENT],
  "LimitSetSpeed": [TxType.PERSISTENT],
  "LimitSetSpeedNeural": [TxType.PERSISTENT],
@@ -108,7 +110,6 @@ keys = {
  "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
  #dragonpilot config
  "DragonEnableDashcam": [TxType.PERSISTENT],
-  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
  "DragonEnableAutoShutdown": [TxType.PERSISTENT],
  "DragonAutoShutdownAt": [TxType.PERSISTENT],
  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
@@ -116,11 +117,11 @@ keys = {
  "DragonEnableUploader": [TxType.PERSISTENT],
  "DragonNoctuaMode": [TxType.PERSISTENT],
  "DragonCacheCar": [TxType.PERSISTENT],
-  "DragonCachedModel": [TxType.PERSISTENT],
-  "DragonCachedFP": [TxType.PERSISTENT],
-  "DragonCachedVIN": [TxType.PERSISTENT],
-  "DragonCachedCarFW": [TxType.PERSISTENT],
-  "DragonCachedSource": [TxType.PERSISTENT],
+  "DragonCachedModel": [TxType.CLEAR_ON_MANAGER_START], # deprecated
+  "DragonCachedFP": [TxType.CLEAR_ON_MANAGER_START], # deprecated
+  "DragonCachedVIN": [TxType.CLEAR_ON_MANAGER_START], # deprecated
+  "DragonCachedCarFW": [TxType.CLEAR_ON_MANAGER_START], # deprecated
+  "DragonCachedSource": [TxType.CLEAR_ON_MANAGER_START], # deprecated
  "DragonAllowGas": [TxType.PERSISTENT],
  "DragonToyotaStockDSU": [TxType.PERSISTENT],
  "DragonLatCtrl": [TxType.PERSISTENT],
@@ -157,11 +158,10 @@ keys = {
  "DragonUIBlinker": [TxType.PERSISTENT],
  "DragonUIDMView": [TxType.PERSISTENT],
  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
-  "DragonCarModel": [TxType.PERSISTENT],
+  "DragonCarModel": [TxType.CLEAR_ON_MANAGER_START],
  "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
  "DragonToyotaSnGMod": [TxType.PERSISTENT],
-  "DragonEnableSRLearner": [TxType.PERSISTENT],
  "DragonWazeMode": [TxType.PERSISTENT],
  "DragonRunWaze": [TxType.PERSISTENT],
  "DragonEnableAutoLC": [TxType.PERSISTENT],
@@ -171,15 +171,34 @@ keys = {
  "DragonBTG": [TxType.PERSISTENT],
  "DragonBootHotspot": [TxType.PERSISTENT],
  "DragonAccelProfile": [TxType.PERSISTENT],
-  "DragonLastModified": [TxType.PERSISTENT],
+  "DragonLastModified": [TxType.CLEAR_ON_MANAGER_START],
  "DragonEnableRegistration": [TxType.PERSISTENT],
  "DragonDynamicFollow": [TxType.PERSISTENT],
+  "DragonToyotaSngResponse": [TxType.PERSISTENT],
  "DragonEnableGearCheck": [TxType.PERSISTENT],
  "DragonEnableTempMonitor": [TxType.PERSISTENT],
-  "DragonEnableCurvatureLearner": [TxType.PERSISTENT],
-  "DragonCurvatureLearnerOffset": [TxType.PERSISTENT],
  "DragonAppAutoUpdate": [TxType.PERSISTENT],
  "DragonUpdating": [TxType.CLEAR_ON_MANAGER_START],
+  "DragonCustomModel": [TxType.PERSISTENT],
+  "DragonSupportedCars": [TxType.PERSISTENT],
+  "DragonLocale": [TxType.PERSISTENT],
+  "DragonUIScreenOffReversing": [TxType.PERSISTENT],
+  "DragonEnableSRLearner": [TxType.PERSISTENT],
+  "DragonEnableSteerBoost": [TxType.PERSISTENT],
+  "DragonSteerBoostMin": [TxType.PERSISTENT],
+  "DragonSteerBoostMax": [TxType.PERSISTENT],
+  "DragonSteerBoostMinAt": [TxType.PERSISTENT],
+  "DragonSteerBoostMaxAt": [TxType.PERSISTENT],
+  "DragonDashcamHours": [TxType.PERSISTENT],
+  "DragonUIScreenOffDriving": [TxType.PERSISTENT],
+  "DragonEnableAutoUpdate": [TxType.PERSISTENT],
+  "DragonUIBrightness": [TxType.PERSISTENT],
+  "DragonEnableUploadOnMobile": [TxType.PERSISTENT],
+  "DragonEnableUploadOnHotspot": [TxType.PERSISTENT],
+  "DragonMaxSpeedLimit": [TxType.PERSISTENT],
+  "DragonEnableRating": [TxType.PERSISTENT],
+  "DragonEnableContALC": [TxType.PERSISTENT],
+  "DragonBlinkerOffTimer": [TxType.PERSISTENT],
 }


@@ -39,8 +39,8 @@ class Profiler():
    print("******* Profiling *******")
    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
      if n in self.cp_ignored:
-        print("%30s: %7.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f   percent: %3.0f   IGNORED" % (n, ms*1000.0, ms/self.tot*100))
      else:
-        print("%30s: %7.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
+        print("%30s: %9.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
    print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))

@@ -50,6 +50,9 @@ class FakeSpinner():
  def update(self, _):
    pass

+  def close(self):
+    pass
+
  def __exit__(self, type, value, traceback):
    pass

@@ -53,7 +53,7 @@ class RunningStat():

 class RunningStatFilter():
  def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
-    self.raw_stat = RunningStat(raw_priors, max_trackable)
+    self.raw_stat = RunningStat(raw_priors, -1)
    self.filtered_stat = RunningStat(filtered_priors, max_trackable)

  def reset(self):
@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from common.basedir import BASEDIR
+
+
+class TextWindow():
+  def __init__(self, s):
+    try:
+      self.text_proc = subprocess.Popen(["./text", s],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
+
+  def get_status(self):
+    if self.text_proc is not None:
+      self.text_proc.poll()
+      return self.text_proc.returncode
+
+    return None
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self.text_proc is not None:
+      self.text_proc.terminate()
+      self.text_proc = None
+
+  def wait_for_exit(self):
+    while True:
+      if self.get_status() == 1:
+        return
+      time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, type, value, traceback):
+    self.close()
+
+
+class FakeTextWindow():
+  def __init__(self, s):
+    pass
+
+  def get_status(self):
+    return 1
+
+  def wait_for_exit(self):
+    return
+
+  def __enter__(self):
+    return self
+
+  def update(self, _):
+    pass
+
+  def __exit__(self, type, value, traceback):
+    pass
+
+
+if __name__ == "__main__":
+  text = """Traceback (most recent call last):
+  File "./controlsd.py", line 608, in <module>
+    main()
+  File "./controlsd.py", line 604, in main
+    controlsd_thread(sm, pm, logcan)
+  File "./controlsd.py", line 455, in controlsd_thread
+    1/0
+ZeroDivisionError: division by zero"""
+  print(text)
+
+  with TextWindow(text) as s:
+    for _ in range(100):
+      if s.get_status() == 1:
+        print("Got exit button")
+        break
+      time.sleep(0.1)
+  print("gone")
@@ -1,6 +1,5 @@
 import numpy as np
 import common.transformations.orientation as orient
-import math

 FULL_FRAME_SIZE = (1164, 874)
 W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@@ -147,81 +146,3 @@ def pretransform_from_calib(calib):
  camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
  return np.linalg.inv(camera_frame_from_calib_frame)

-
-def transform_img(base_img,
-                 augment_trans=np.array([0,0,0]),
-                 augment_eulers=np.array([0,0,0]),
-                 from_intr=eon_intrinsics,
-                 to_intr=eon_intrinsics,
-                 output_size=None,
-                 pretransform=None,
-                 top_hacks=False,
-                 yuv=False,
-                 alpha=1.0,
-                 beta=0,
-                 blur=0):
-  import cv2  # pylint: disable=import-error
-  cv2.setNumThreads(1)
-
-  if yuv:
-    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
-
-  size = base_img.shape[:2]
-  if not output_size:
-    output_size = size[::-1]
-
-  cy = from_intr[1,2]
-  def get_M(h=1.22):
-    quadrangle = np.array([[0, cy + 20],
-                           [size[1]-1, cy + 20],
-                           [0, size[0]-1],
-                           [size[1]-1, size[0]-1]], dtype=np.float32)
-    quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
-    quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
-                                        h*np.ones(4),
-                                        h/quadrangle_norm[:,1]))
-    rot = orient.rot_from_euler(augment_eulers)
-    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
-    to_KE = to_intr.dot(to_extrinsics)
-    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
-    warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                         warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-    M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
-    return M
-
-  M = get_M()
-  if pretransform is not None:
-    M = M.dot(pretransform)
-  augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
-
-  if top_hacks:
-    cyy = int(math.ceil(to_intr[1,2]))
-    M = get_M(1000)
-    if pretransform is not None:
-      M = M.dot(pretransform)
-    augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
-
-  # brightness and contrast augment
-  augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
-
-  # gaussian blur
-  if blur > 0:
-    augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
-
-  if yuv:
-    augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
-  else:
-    augmented_img = augmented_rgb
-  return augmented_img
-
-
-def yuv_crop(frame, output_size, center=None):
-  # output_size in camera coordinates so u,v
-  # center in array coordinates so row, column
-  import cv2  # pylint: disable=import-error
-  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
-  if not center:
-    center = (rgb.shape[0]/2, rgb.shape[1]/2)
-  rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
-                 center[1] - output_size[0]/2: center[1] + output_size[0]/2]
-  return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
@@ -44,24 +44,15 @@ medmodel_intrinsics = np.array(

 # BIG model

-BIGMODEL_INPUT_SIZE = (864, 288)
+BIGMODEL_INPUT_SIZE = (1024, 512)
 BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)

 bigmodel_zoom = 1.
 bigmodel_intrinsics = np.array(
  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  0.2 * BIGMODEL_INPUT_SIZE[1]],
+   [   0. ,  eon_focal_length / bigmodel_zoom,  256+MEDMODEL_CY],
   [   0. ,                            0. ,   1.]])

-
-bigmodel_border = np.array([
-    [0,0,1],
-    [BIGMODEL_INPUT_SIZE[0], 0, 1],
-    [BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
-    [0, BIGMODEL_INPUT_SIZE[1], 1],
-])
-
-
 model_frame_from_road_frame = np.dot(model_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

@@ -72,6 +63,7 @@ medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))

 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
+medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))

 # 'camera from model camera'
 def get_model_height_transform(camera_frame_from_road_frame, height):
@@ -0,0 +1,45 @@
+import os
+from cffi import FFI
+
+# Workaround for the EON/termux build of Python having os.*xattr removed.
+ffi = FFI()
+ffi.cdef("""
+int setxattr(const char *path, const char *name, const void *value, size_t size, int flags);
+ssize_t getxattr(const char *path, const char *name, void *value, size_t size);
+ssize_t listxattr(const char *path, char *list, size_t size);
+int removexattr(const char *path, const char *name);
+""")
+libc = ffi.dlopen(None)
+
+def setxattr(path, name, value, flags=0):
+  path = path.encode()
+  name = name.encode()
+  if libc.setxattr(path, name, value, len(value), flags) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})")
+
+def getxattr(path, name, size=128):
+  path = path.encode()
+  name = name.encode()
+  value = ffi.new(f"char[{size}]")
+  l = libc.getxattr(path, name, value, size)
+  if l == -1:
+    # errno 61 means attribute hasn't been set
+    if ffi.errno == 61:
+      return None
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
+  return ffi.buffer(value)[:l]
+
+def listxattr(path, size=128):
+  path = path.encode()
+  attrs = ffi.new(f"char[{size}]")
+  l = libc.listxattr(path, attrs, size)
+  if l == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})")
+  # attrs is b'\0' delimited values (so chop off trailing empty item)
+  return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]]
+
+def removexattr(path, name):
+  path = path.encode()
+  name = name.encode()
+  if libc.removexattr(path, name) == -1:
+    raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})")
@@ -31,7 +31,7 @@


 # Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
-lang=zh-TW
+#lang=en

 update_font=0
 remove_old_font=0
@@ -41,31 +41,22 @@ if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
    update_font=1
 fi

-# check miui font
-if ls /system/fonts/Miui*.ttf 1> /dev/null 2>&1; then
-    remove_old_font=1
-fi
-
 if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
    # sleep 3 secs in case, make sure the /system is re-mountable
    sleep 3
    mount -o remount,rw /system
    if [ $update_font -eq "1" ]; then
        # install font
-        cp -rf /data/openpilot/dragonpilot/chinese-fonts/NotoSansCJKtc-* /system/fonts/
+        cp -rf /data/openpilot/dragonpilot/cjk-fonts/NotoSansCJKtc-* /system/fonts/
        # install font mapping
-        cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+        cp -rf /data/openpilot/dragonpilot/cjk-fonts/fonts.xml /system/etc/fonts.xml
        # change permissions
        chmod 644 /system/etc/fonts.xml
        chmod 644 /system/fonts/NotoSansCJKtc-*
    fi
-    # remove miui font
-    if [ $remove_old_font -eq "1" ]; then
-        rm -fr /system/fonts/Miui*.ttf
-    fi
    mount -o remount,r /system
    # change system locale
 fi

-setprop persist.sys.locale $lang
-setprop persist.sys.local $lang
+#setprop persist.sys.locale $lang
+#setprop persist.sys.local $lang
@@ -31,9 +31,9 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
 .PHONY: all
 all: updater

-OBJS = NotoSansCJKtc-Regular.otf.o \
-			 NotoSansCJKtc-Medium.otf.o \
-			 NotoSansCJKtc-Bold.otf.o \
+OBJS = opensans_regular.ttf.o \
+			 opensans_semibold.ttf.o \
+			 opensans_bold.ttf.o \
       ../../selfdrive/common/touch.o \
       ../../selfdrive/common/framebuffer.o \
       $(PHONELIBS)/json11/json11.o \
@@ -52,15 +52,15 @@ updater: updater.o $(OBJS)
    -lcutils -lm -llog
 	strip updater

-NotoSansCJKtc-Regular.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf
+opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'

-NotoSansCJKtc-Bold.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Bold.otf
+opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'

-NotoSansCJKtc-Medium.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Medium.otf
+opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'

@@ -1,7 +1,7 @@
 {
-  "ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
-  "ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
-  "recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
-  "recovery_len": 15861036,
-  "recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
+  "ota_url": "http://dpp.cool/neosupdate/ota-signed-7bf9c7c55f0a5dff4aca834d32642cbe1a1a6bf2056f38d64f7aa3575390c9de.zip",
+  "ota_hash": "7bf9c7c55f0a5dff4aca834d32642cbe1a1a6bf2056f38d64f7aa3575390c9de",
+  "recovery_url": "http://dpp.cool/neosupdate/recovery-4772f9348e04b560b9df87d6dea6c740fa8d62ea41a8db3842eec216f04e3110.img",
+  "recovery_len": 15922476,
+  "recovery_hash": "4772f9348e04b560b9df87d6dea6c740fa8d62ea41a8db3842eec216f04e3110"
 }
@@ -43,12 +43,12 @@ const char *manifest_url = MANIFEST_URL_EON;

 #define UPDATE_DIR "/data/neoupdate"

-extern const uint8_t bin_opensans_regular[] asm("_binary_NotoSansCJKtc_Regular_otf_start");
-extern const uint8_t bin_opensans_regular_end[] asm("_binary_NotoSansCJKtc_Regular_otf_end");
-extern const uint8_t bin_opensans_semibold[] asm("_binary_NotoSansCJKtc_Medium_otf_start");
-extern const uint8_t bin_opensans_semibold_end[] asm("_binary_NotoSansCJKtc_Medium_otf_end");
-extern const uint8_t bin_opensans_bold[] asm("_binary_NotoSansCJKtc_Bold_otf_start");
-extern const uint8_t bin_opensans_bold_end[] asm("_binary_NotoSansCJKtc_Bold_otf_end");
+extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
+extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
+extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
+extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
+extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
+extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");

 namespace {

@@ -322,18 +322,18 @@ struct Updater {
  std::string stage_download(std::string url, std::string hash, std::string name) {
    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);

-    set_progress("下載 " + name + " 中...");
+    set_progress("Downloading " + name + "...");
    bool r = download_file(url, out_fn);
    if (!r) {
-      set_error("無法下載 " + name);
+      set_error("failed to download " + name);
      return "";
    }

-    set_progress("驗證 " + name + " 中...");
+    set_progress("Verifying " + name + "...");
    std::string fn_hash = sha256_file(out_fn);
-    printf("得到 %s hash: %s\n", name.c_str(), hash.c_str());
+    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
    if (fn_hash != hash) {
-      set_error(name + " 已損壞");
+      set_error(name + " was corrupt");
      unlink(out_fn.c_str());
      return "";
    }
@@ -357,7 +357,7 @@ struct Updater {
    }

    if (!check_space()) {
-      set_error("您需要至少 2GB 的空間進行升級");
+      set_error("2GB of free space required to update");
      return;
    }

@@ -365,7 +365,7 @@ struct Updater {

    const int EON = (access("/EON", F_OK) != -1);

-    set_progress("尋找最新的版本...");
+    set_progress("Finding latest version...");
    std::string manifest_s;
    if (EON) {
      manifest_s = download_string(curl, manifest_url);
@@ -374,12 +374,12 @@ struct Updater {
      exit(0);
    }

-    printf("宣示說明: %s\n", manifest_s.c_str());
+    printf("manifest: %s\n", manifest_s.c_str());

    std::string err;
    auto manifest = json11::Json::parse(manifest_s, err);
    if (manifest.is_null() || !err.empty()) {
-      set_error("無法載入新的宣示說明");
+      set_error("failed to load update manifest");
      return;
    }

@@ -394,7 +394,7 @@ struct Updater {
    // std::string installer_hash = manifest["installer_hash"].string_value();

    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("錯誤的宣示說明");
+      set_error("invalid update manifest");
      return;
    }

@@ -406,12 +406,12 @@ struct Updater {

    std::string recovery_fn;
    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("跳過 recovery 更新...");
+      set_progress("Skipping recovery flash...");
    } else {
      // only download the recovery if it differs from what's flashed
-      set_progress("檢查 recovery...");
+      set_progress("Checking recovery...");
      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("目前 recovery 的 hash: %s\n", existing_recovery_hash.c_str());
+      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());

      if (existing_recovery_hash != recovery_hash) {
        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
@@ -441,18 +441,18 @@ struct Updater {

    if (!recovery_fn.empty()) {
      // flash recovery
-      set_progress("刷新 recovery...");
+      set_progress("Flashing recovery...");

      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
      if (!flash_file) {
-        set_error("刷新 recovery 失敗");
+        set_error("failed to flash recovery");
        return;
      }

      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
      if (!recovery_dev) {
        fclose(flash_file);
-        set_error("刷新 recovery 失敗");
+        set_error("failed to flash recovery");
        return;
      }

@@ -467,7 +467,7 @@ struct Updater {
        if (bytes_read != bytes_written) {
          fclose(recovery_dev);
          fclose(flash_file);
-          set_error("刷新 recovery 失敗: 無法寫入");
+          set_error("failed to flash recovery: write failed");
          return;
        }
      }
@@ -475,12 +475,12 @@ struct Updater {
      fclose(recovery_dev);
      fclose(flash_file);

-      set_progress("驗證新的 recovery...");
+      set_progress("Verifying flash...");
      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("新的 recovery hash: %s\n", new_recovery_hash.c_str());
+      printf("new recovery hash: %s\n", new_recovery_hash.c_str());

      if (new_recovery_hash != recovery_hash) {
-        set_error("刷新 recovery 失敗");
+        set_error("recovery flash corrupted");
        return;
      }

@@ -489,13 +489,13 @@ struct Updater {
    // write arguments to recovery
    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
    if (!cmd_file) {
-      set_error("無法重啟至 recovery");
+      set_error("failed to reboot into recovery");
      return;
    }
    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
    fclose(cmd_file);

-    set_progress("重新啟動");
+    set_progress("Rebooting");

    // remove the continue.sh so we come back into the setup.
    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
@@ -562,9 +562,9 @@ struct Updater {
  }

  void draw_battery_screen() {
-    low_battery_title = "電量過低";
-    low_battery_text = "請將您的 EON 充電。當電量達到 35% 時系統將會繼續更新。";
-    low_battery_context = "目前的電量為: " + battery_cap_text + "%";
+    low_battery_title = "Low Battery";
+    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
+    low_battery_context = "Current battery charge: " + battery_cap_text + "%";

    nvgFillColor(vg, nvgRGBA(255,255,255,255));
    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
@@ -601,7 +601,7 @@ struct Updater {
      int powerprompt_y = 312;
      nvgFontFace(vg, "opensans_regular");
      nvgFontSize(vg, 64.0f);
-      nvgText(vg, fb_w/2, 740, "請確保您的 EON 已接上充電器。", NULL);
+      nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);

      NVGpaint paint = nvgBoxGradient(
          vg, progress_x + 1, progress_y + 1,
@@ -635,10 +635,10 @@ struct Updater {

    switch (state) {
    case CONFIRMATION:
-      draw_ack_screen("NEOS 需要更新。",
-                      "您的設備將在點擊繼續後開始更新。\n更新檔約為 1GB 我們建議您先連接至無線網路。\n設備上現有的檔案不會丟失。",
-                      "繼續",
-                      "連線至無線網路");
+      draw_ack_screen("An update to NEOS is required.",
+                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
+                      "Continue",
+                      "Connect to WiFi");
      break;
    case LOW_BATTERY:
      draw_battery_screen();
@@ -647,7 +647,7 @@ struct Updater {
      draw_progress_screen();
      break;
    case ERROR:
-      draw_ack_screen("發生錯誤", (error_text).c_str(), NULL, "重新啟動");
+      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
      break;
    }

@@ -62,6 +62,12 @@ function launch {
  echo 0-3 > /dev/cpuset/foreground/cpus
  echo 0-3 > /dev/cpuset/android/cpus

+  # change interrupt affinity
+  echo 3 > /proc/irq/6/smp_affinity_list # MDSS
+  echo 1 > /proc/irq/78/smp_affinity_list # Modem, can potentially lock up
+  echo 2 > /proc/irq/733/smp_affinity_list # USB
+  echo 2 > /proc/irq/736/smp_affinity_list # USB
+
  DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

  # Remove old NEOS update file
@@ -1,6 +1,11 @@
 #!/usr/bin/bash
-
-/usr/bin/sh /data/openpilot/dragonpilot/chinese-fonts/installer.sh &
+/usr/bin/sh /data/openpilot/scripts/toyota_dsu_mode.sh
+if [ -f "/sdcard/dp_patcher.py" ]; then
+    /data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
+fi
+getprop persist.sys.locale | tr -d '\n' > /data/params/d/DragonLocale
+chmod +x scripts/*.sh
+/usr/bin/sh /data/openpilot/dragonpilot/cjk-fonts/installer.sh &
 export PASSIVE="0"
 exec ./launch_chffrplus.sh

@@ -0,0 +1,14 @@
+path_classifiers:
+  library:
+    - external
+    - phonelibs
+    - pyextra
+    - tools/lib/mkvparse
+extraction:
+  cpp:
+    after_prepare:
+      - "pip3 install jinja2 pyyaml cython pycapnp numpy sympy tqdm cffi logentries zmq"
+      - "export PATH=$PWD/external/bin:$PATH"
+    index:
+      build_command: "python3 $(which scons)"
+
@@ -0,0 +1,291 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX EON Vector__XXX
+
+
+BO_ 170 AccPedal: 8 XXX
+ SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX
+ SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
+ SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
+ SG_ Counter1 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ EngineSpeed : 32|16@1- (1,0) [0|65535] "" XXX
+ SG_ uknown : 7|8@0- (1,0) [0|65535] "" XXX
+
+BO_ 404 CruiseControl: 4 XXX
+ SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ Counter1 : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ Counter2 : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ notCancel_0xF : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 512 CruiseControlStatus: 8 XXX
+ SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX
+
+BO_ 168 EngineAndBrake: 8 XXX
+ SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX
+ SG_ EngineTorque : 8|16@1- (1,0) [0|65535] "" XXX
+ SG_ EngineTorqueWoInterv : 24|16@1- (1,0) [0|65535] "" XXX
+
+BO_ 470 SteeringButtons: 2 XXX
+ SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 403 DynamicCruiseControlStatus: 8 XXX
+ SG_ Counter : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "mph" XXX
+
+BO_ 201 SteeringWheelAngle_DSC: 8 XXX
+ SG_ Counter1 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ WeirdCounter : 44|4@1+ (1,0) [0|3] "" XXX
+ SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "deg" XXX
+
+BO_ 206 WheelSpeeds: 8 XXX
+ SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
+ SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
+
+BO_ 884 WheelToleranceAdjustment: 8 XXX
+
+BO_ 678 WiperSwitch: 8 XXX
+ SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 304 TerminalStatus: 8 XXX
+ SG_ AccOn : 23|1@0+ (1,0) [0|255] "" XXX
+ SG_ IgnitionOff : 22|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 169 Torque2: 8 XXX
+
+BO_ 184 TorqueTransmisionRequest: 8 XXX
+
+BO_ 196 SteeringWheelAngle: 7 XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
+ SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [0|255] "degree/s" XXX
+
+BO_ 180 WheelTorqueDriveTrain1: 8 XXX
+
+BO_ 182 DynamicCruiseControlTorqueDemand: 8 XXX
+
+BO_ 186 TransmissionData: 8 XXX
+
+BO_ 191 RequestedWheelTorqueDriveTrainActiveCruiseControl: 8 XXX
+ SG_ Counter : 11|4@0- (1,0) [0|255] "" XXX
+ SG_ TorqueReq : 16|11@1+ (1,0) [0|65535] "" XXX
+
+BO_ 414 Status_DSC: 8 XXX
+
+BO_ 416 Speed: 8 XXX
+ SG_ VehicleSpeed : 0|12@1+ (0.103,0) [0|255] "kph" XXX
+
+BO_ 418 TransimissionData2: 8 XXX
+
+BO_ 690 WheelPressure: 8 XXX
+
+BO_ 691 AccelerationData: 8 XXX
+
+BO_ 408 GearSelectorSwitch: 8 XXX
+ SG_ Gear : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 422 Distance: 8 XXX
+
+BO_ 436 InstrumentClusterStatus_KOMBI: 8 XXX
+
+BO_ 464 EngineData: 8 XXX
+
+BO_ 945 TransmissionData3: 8 XXX
+
+BO_ 200 SteeringWheelAngle_slow: 8 XXX
+ SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
+ SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [-65535|65535] "degree/s" XXX
+
+BO_ 466 TransmissionDataDisplay: 8 XXX
+
+BO_ 437 HeatFlow_LoadMomentClimate: 8 XXX
+
+BO_ 1152 NetworkManagment1: 8 XXX
+
+BO_ 1170 NetworkManagment2: 8 XXX
+
+BO_ 1175 NetworkManagment3: 8 XXX
+
+BO_ 1176 NetworkManagment4: 8 XXX
+
+BO_ 1193 NetworkManagment5: 8 XXX
+
+BO_ 1246 NetworkManagment6: 8 XXX
+
+BO_ 438 HeatFlowEngine: 8 XXX
+
+BO_ 784 AmbientTemperature: 8 XXX
+
+BO_ 821 ElectricFuelPumpStatus: 8 XXX
+
+BO_ 1007 EngineOBD_data: 8 XXX
+
+BO_ 1432 ServicesDKG: 8 XXX
+
+BO_ 309 CrashDisconnectControl: 8 XXX
+
+BO_ 502 TurnSignals: 2 XXX
+ SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 514 Dimming: 8 XXX
+
+BO_ 538 LampsCondition: 8 XXX
+
+BO_ 550 RainSensorWiperSpeed: 8 XXX
+
+BO_ 578 ClimateFrontStatus: 8 XXX
+
+BO_ 704 LCD_lighting: 8 XXX
+
+BO_ 758 LightControl: 8 XXX
+
+BO_ 760 Time_Date: 8 XXX
+
+BO_ 762 SeatBeltContact: 8 XXX
+
+BO_ 764 TrunkStatus: 8 XXX
+
+BO_ 797 TirePressureStatus: 8 XXX
+
+BO_ 816 Range_Mileage: 8 XXX
+
+BO_ 823 StatusFuelControl: 8 XXX
+
+BO_ 897 EngineOilLevelStatus: 8 XXX
+
+BO_ 940 Terminal30Eerror: 8 XXX
+
+BO_ 947 PowerManagmentConsumptionControl: 8 XXX
+
+BO_ 948 PowerBatteryVoltage: 8 XXX
+ SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX
+
+BO_ 958 PowerRunningTime: 8 XXX
+
+BO_ 1408 ServicesKGM: 8 XXX
+
+BO_ 1426 ServicesDME: 8 XXX
+
+BO_ 1449 ServicesDSC: 8 XXX
+
+BO_ 1504 ServicesKOMBI: 8 XXX
+
+BO_ 1522 ServicesKBM: 8 XXX
+
+BO_ 209 Accelerometer: 8 XXX
+ SG_ LateralAcceleration : 0|16@1- (1,0) [0|7] "" XXX
+ SG_ LongitudalAcceleration : 32|16@1- (1,0) [0|65535] "" XXX
+
+BO_ 172 WheelTorqueDrivetrain2: 8 XXX
+
+BO_ 128 Unknown80: 5 XXX
+ SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ State1 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 31|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 320 Unknown140: 2 XXX
+ SG_ State : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 212 Unknown_d4: 8 XXX
+ SG_ State1 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter2 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 205 Unknown_cd: 8 XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|8@0- (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Counter1 : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 63|8@0- (1,0) [0|255] "" XXX
+
+BO_ 1577 NEW_MSG_1: 8 XXX
+
+
+
+
+CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control drives";
+CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
+CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
+CM_ SG_ 170 EngineSpeed "It's hard to say that is even a rate";
+CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
+CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
+CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
+CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed";
+CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed";
+CM_ SG_ 404 Counter1 "It accelerates when requests are being sent";
+CM_ SG_ 404 Counter2 "It accelerates when requests are being sent";
+CM_ SG_ 404 notCancel_0xF "0xF unless cancel is requested then 0x0";
+CM_ SG_ 168 Brake_active2 "";
+CM_ SG_ 168 BrakePressed "Brake when driver presses the brake";
+CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque";
+CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention";
+CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target";
+CM_ SG_ 408 Gear "This is just provision, needs to be reverse engineered";
+CM_ SG_ 502 TurnSignalIdle "Turn signal off";
+CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning";
+CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker";
+CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker";
+CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk";
+VAL_ 408 Gear 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ;
@@ -18,12 +18,55 @@ unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
  d >>= 8; // remove checksum

  unsigned int s = l;
-  while (address) { s += address & 0xff; address >>= 8; }
-  while (d) { s += d & 0xff; d >>= 8; }
+  while (address) { s += address & 0xFF; address >>= 8; }
+  while (d) { s += d & 0xFF; d >>= 8; }

  return s & 0xFF;
 }

+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l) {
+  d >>= ((8-l)*8); // remove padding
+
+  unsigned int s = 0;
+  while (address) { s += address & 0xFF; address >>= 8; }
+  l -= 1; // checksum is first byte
+  while (l) { s += d & 0xFF; d >>= 8; l -= 1; }
+
+  return s & 0xFF;
+}
+
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l) {
+  /* 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;
+  for (int j = 0; j < (l - 1); j++) {
+    uint8_t shift = 0x80;
+    uint8_t curr = (d >> 8*j) & 0xFF;
+    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 & 0xFF;
+}
+
 // Static lookup table for fast computation of CRC8 poly 0x2F, aka 8H2F/AUTOSAR
 uint8_t crc8_lut_8h2f[256];

@@ -106,6 +149,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
    case 0x30C: // ACC_02 Automatic Cruise Control
      crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
      break;
+    case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
+      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
+      break;
    case 0x3C0: // Klemmen_Status_01 ignition and starting status
      crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
      break;
@@ -13,6 +13,8 @@
 // Helper functions
 unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
 unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
+unsigned int subaru_checksum(unsigned int address, uint64_t d, int l);
+unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l);
 void init_crc_lookup_tables();
 unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
 unsigned int pedal_checksum(uint64_t d, int l);
@@ -18,7 +18,9 @@ cdef extern from "common_dbc.h":
    PEDAL_CHECKSUM,
    PEDAL_COUNTER,
    VOLKSWAGEN_CHECKSUM,
-    VOLKSWAGEN_COUNTER
+    VOLKSWAGEN_COUNTER,
+    SUBARU_CHECKSUM,
+    CHRYSLER_CHECKSUM

  cdef struct Signal:
    const char* name
@@ -38,6 +38,8 @@ enum SignalType {
  PEDAL_COUNTER,
  VOLKSWAGEN_CHECKSUM,
  VOLKSWAGEN_COUNTER,
+  SUBARU_CHECKSUM,
+  CHRYSLER_CHECKSUM,
 };

 struct Signal {
@@ -29,6 +29,10 @@ const Signal sigs_{{address}}[] = {
      .type = SignalType::VOLKSWAGEN_CHECKSUM,
      {% elif checksum_type == "volkswagen" and sig.name == "COUNTER" %}
      .type = SignalType::VOLKSWAGEN_COUNTER,
+      {% elif checksum_type == "subaru" and sig.name == "CHECKSUM" %}
+      .type = SignalType::SUBARU_CHECKSUM,
+      {% elif checksum_type == "chrysler" and sig.name == "CHECKSUM" %}
+      .type = SignalType::CHRYSLER_CHECKSUM,
      {% elif address in [512, 513] and sig.name == "CHECKSUM_PEDAL" %}
      .type = SignalType::PEDAL_CHECKSUM,
      {% elif address in [512, 513] and sig.name == "COUNTER_PEDAL" %}
@@ -99,6 +99,12 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
      // The correct fix is unclear but this works for the moment.
      unsigned int chksm = volkswagen_crc(address, ReverseBytes(ret), message_lookup[address].size);
      ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+      unsigned int chksm = subaru_checksum(address, ret, message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
+    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+      unsigned int chksm = chrysler_checksum(address, ReverseBytes(ret), message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
    } else {
      //WARN("CHECKSUM signal type not valid\n");
    }
@@ -57,6 +57,16 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
        if (!update_counter_generic(tmp, sig.b2)) {
        return false;
      }
+    } else if (sig.type == SignalType::SUBARU_CHECKSUM) {
+      if (subaru_checksum(address, dat_be, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
+    } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
+      if (chrysler_checksum(address, dat_le, size) != tmp) {
+        INFO("0x%X CHECKSUM FAIL\n", address);
+        return false;
+      }
    } else if (sig.type == SignalType::PEDAL_CHECKSUM) {
      if (pedal_checksum(dat_be, size) != tmp) {
        INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
@@ -46,6 +46,20 @@ def process(in_fn, out_fn):
    checksum_start_bit = 0
    counter_start_bit = 0
    little_endian = True
+  elif can_dbc.name.startswith(("subaru_")):
+    checksum_type = "subaru"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 0
+    counter_start_bit = None
+    little_endian = True
+  elif can_dbc.name.startswith(("chrysler_")):
+    checksum_type = "chrysler"
+    checksum_size = 8
+    counter_size = None
+    checksum_start_bit = 7
+    counter_start_bit = None
+    little_endian = False
  else:
    checksum_type = None
    checksum_size = None
@@ -43,7 +43,7 @@ BO_ 258 STEERING: 8 XXX
 SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
 SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX

-BO_ 514 SPEED_1: 4 XXX
+BO_ 514 SPEED_1: 8 XXX
 SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
 SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX

@@ -47,6 +47,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
 SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
 SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -178,7 +186,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -0,0 +1,91 @@
+CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -62,7 +62,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -0,0 +1,46 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -0,0 +1,46 @@
+CM_ "IMPORT _toyota_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -116,7 +116,7 @@ BO_ 388 PSCMStatus: 8 K43_PSCM
 SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
 SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO

-BO_ 417 AcceleratorPedal: 8 XXX
+BO_ 417 AcceleratorPedal: 7 XXX
 SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO

 BO_ 451 GasAndAcc: 8 XXX
@@ -170,7 +170,7 @@ BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
 SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO

-BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
+BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
 SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO

@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
 SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
 SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
 SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
 SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
 SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
 SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
 SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
 SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
 SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
 SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
 SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
 SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -0,0 +1,345 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 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
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 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
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_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_ SET_ME_X00_4 : 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_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ 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
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ 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
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|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";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+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" ;
+
+CM_ "honda_hrv_touring_2019_can.dbc starts here"
+
+
+
+BO_ 145 KINEMATICS: 8 XXX
+ SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
+
+BO_ 228 STEERING_CONTROL: 5 ADAS
+ SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
+
+BO_ 304 GAS_PEDAL_2: 8 PCM
+ SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
+ SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
+
+BO_ 399 STEER_STATUS: 7 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
+ SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 401 GEARBOX: 8 PCM
+ SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
+ SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
+ SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 884 STALK_STATUS: 8 XXX
+ SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
+CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
+VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
 SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
 SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

+BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
+ SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 232 BRAKE_HOLD: 7 XXX
 SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
 SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
 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
@@ -1446,3 +1446,10 @@ BO_ 905 SCC14: 8 SCC

 BO_ 882 ELECT_GEAR: 8 XXX
 SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] ""  CLU
+
+BO_ 1157 LFAHDA_MFC: 4 XXX
+ SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
+ SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -0,0 +1,408 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_2018_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -373,7 +376,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (0.77,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -0,0 +1,408 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
+ SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1043 TIME : 8 CGW
+ SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
+ SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
+ SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
+ SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
+ SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
+ SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
+ SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
+ SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
+ SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_nxt_2015_pt.dbc starts here"
+
+
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 705 GAS_PEDAL: 8 XXX
+ SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ALT: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -0,0 +1,308 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 256 CAM_Start: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 20|12@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_5 : 24|13@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 61|2@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 43|12@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|3@0+ (1,0) [0|15] "" XXX
+
+BO_ 358 CAM_End: 8 XXX
+ SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 7|32@0+ (1,0) [0|255] "" XXX
+
+BO_ 1216 CAM_69: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|12@0+ (1,0) [0|7] "" XXX
+
+BO_ 1120 CAM_KEEP_ALIVE_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 1436 CAM_71: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 18 STEER: 8 XXX
+ SG_ NEW_SIGNAL_5 : 42|1@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_6 : 63|4@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CTR : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_ANGLE : 26|16@0+ (0.05,-1600) [-500|500] "" XXX
+
+BO_ 257 LKAS: 8 XXX
+ SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_ACT : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEAD_DIST : 0|12@0+ (1,0) [0|255] "" XXX
+ SG_ SET_19 : 7|7@0+ (1,0) [0|255] "" XXX
+ SG_ SET_0 : 48|3@1+ (1,0) [0|3] "" XXX
+ SG_ SET_0_1 : 63|2@0+ (1,0) [0|3] "" XXX
+ SG_ UNKNOWN : 24|11@0+ (1,0) [0|4095] "" XXX
+ SG_ MAX_TORQUE__ : 45|11@0+ (-1,1000) [0|4095] "" XXX
+ SG_ ANGLE_TARGET : 20|12@0+ (0.1,-200) [0|4095] "" XXX
+
+BO_ 258 NEW_MSG_3: 8 XXX
+ SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 28 WHEEL_SPEEDS: 8 XXX
+ SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ RL : 39|16@0+ (0.01,-102) [0|65535] "" XXX
+ SG_ FL : 7|16@0+ (0.01,-100) [0|65535] "" XXX
+ SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
+
+BO_ 259 NEW_MSG_5: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 260 NEW_MSG_6: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 261 NEW_MSG_7: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 262 NEW_MSG_8: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 263 NEW_MSG_9: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 310 NEW_MSG_10: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 308 NEW_MSG_11: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 48|8@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 19|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 304 NEW_MSG_12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 23|12@0+ (1,0) [0|2047] "" XXX
+ SG_ NEW_SIGNAL_6 : 27|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_7 : 27|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 35|6@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_8 : 0|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 305 NEW_MSG_13: 8 XXX
+ SG_ NEW_SIGNAL_1 : 3|12@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|12@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_3 : 27|14@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_6 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 352 NEW_MSG_14: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 355 NEW_MSG_15: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 356 NEW_MSG_16: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 357 NEW_MSG_17: 8 XXX
+ SG_ NEW_SIGNAL_1 : 61|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|32@0+ (1,0) [0|4294967295] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 59 STEER_RATE: 8 XXX
+ SG_ NEW_SIGNAL_2 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_ANGLE_RATE : 55|16@0+ (0.05,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [-500|500] "" XXX
+ SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 24 NEW_MSG_1: 8 XXX
+ SG_ NEW_SIGNAL_3 : 15|1@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 0|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 26 ENGINE_DATA: 8 XXX
+ SG_ NEW_SIGNAL_3 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX
+ SG_ RPM : 7|13@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 10|19@0+ (1,0) [0|524287] "" XXX
+ SG_ NEW_SIGNAL_4 : 43|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 145 BLINK_INFO: 8 XXX
+ SG_ RIGHT_BLINK : 12|1@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_BLINK : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ Speed : 27|12@0+ (1,0) [0|255] "" XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 16 STEER_TORQUE: 8 XXX
+ SG_ NEW_SIGNAL_12 : 7|2@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_7 : 27|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 8|13@0+ (0.05,-205) [0|15] "" XXX
+ SG_ STEER_TORQUE_SENSOR : 5|13@0+ (1,-4000) [0|15] "" XXX
+
+BO_ 17 STEER_TORQUE_2: 8 XXX
+ SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_TORQUE_MOTOR : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 27|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 43|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 29 WHEEL: 8 XXX
+ SG_ STANDSTILL : 52|1@0+ (1,0) [0|15] "" XXX
+ SG_ SPEED : 39|16@0+ (1,0) [0|127] "" XXX
+ SG_ ENCODER_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ ENCODER_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_6 : 55|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 31 NEW_MSG_4: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 96 STEER2: 8 XXX
+ SG_ NEW_SIGNAL_3 : 23|4@0+ (1,0) [0|15] "" XXX
+ SG_ SPEED : 19|20@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CTR : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER__ : 7|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1209 KEEP_ALIVE_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_7 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 4|5@0+ (1,0) [0|127] "" XXX
+
+BO_ 37 BLANK_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 44 BLANK_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|16777215] "" XXX
+ SG_ NEW_SIGNAL_3 : 55|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|16777215] "" XXX
+
+BO_ 128 NEW_MSG_18: 8 XXX
+ SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 129 NEW_MSG_19: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|12@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 1034 KEEP_ALIVE_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 55|16@0+ (1,0) [0|255] "" XXX
+
+BO_ 1200 KEEP_ALIVE_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 354 CAM_KEEP_ALIVE_1: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|30@0+ (1,0) [0|65535] "" XXX
+
+BO_ 336 NEW_MSG_20: 8 XXX
+ SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_1 : 11|12@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 342 NEW_MSG_21: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_5 : 39|16@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_3 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_7 : 7|16@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 23|16@0+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_6 : 40|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 264 NEW_MSG_2: 8 XXX
+ SG_ NEW_SIGNAL_1 : 56|8@1+ (1,0) [0|15] "" XXX
@@ -51,10 +51,10 @@ BO_ 118 RPM_RELATED: 8 XXX
 SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX

 BO_ 514 ENGINE_DATA: 8 XXX
- SG_ PEDAL_GAS : 39|12@0+ (0.002778,0) [0|255] "%" XXX
 SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX
 SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX
 SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX
+ SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "%" XXX

 BO_ 357 PEDALS: 8 XXX
 SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
@@ -64,11 +64,11 @@ BO_ 357 PEDALS: 8 XXX
 SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
 SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX
 SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX
- SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
 SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX
 SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX
 SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX

 BO_ 533 WHEEL_SPEEDS: 8 XXX
 SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX
@@ -111,6 +111,7 @@ BO_ 582 CAM_LANEMAYBE: 8 XXX
 SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX
 SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX
 SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|16@0+ (1,0) [0|65535] "" XXX

 BO_ 541 CAM_EMPTY: 8 XXX

@@ -139,11 +140,12 @@ BO_ 579 CAM_LKAS: 8 XXX
 SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
 SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
 SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
 SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
 SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
+ SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ ANGLE_ENABLED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEERING_ANGLE : 33|12@0+ (1,-2048) [-2048|2047] "" XXX

 BO_ 580 CAM_DISTANCE: 8 XXX
 SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
@@ -165,14 +167,15 @@ BO_ 581 CAM_IDK3: 8 XXX
 SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX

-BO_ 863 CAM_STATUS: 8 XXX
- SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_5 : 4|2@0+ (1,0) [0|32767] "" XXX
- SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
+BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
 SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
- SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
 SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
+ SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX

 BO_ 1157 CAM_SETTINGS: 8 XXX
 SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
@@ -193,7 +196,7 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
 SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX
 SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX
- SG_ S1_NOT : 54|1@0+ (1,0) [0|31] "" XXX
+ SG_ S1_HBEAM : 54|1@0+ (1,0) [0|31] "" XXX
 SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX
 SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX
@@ -482,14 +485,13 @@ BO_ 606 SPEED_TBD: 8 XXX
 SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX

 BO_ 552 GEAR: 8 XXX
- SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_4 : 18|3@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX
 SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX
- SG_ GEAR : 35|4@0+ (1,0) [0|15] "" XXX
- SG_ MORE_GEAR : 7|4@0+ (1,0) [0|255] "" XXX
+ SG_ MORE_GEAR : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ GEAR : 2|3@0+ (1,0) [0|7] "" XXX
+ SG_ GEAR_BOX : 36|4@0+ (1,0) [0|15] "" XXX

 BO_ 543 CRZ_EVENTS: 8 XXX
 SG_ NEW_SIGNAL_3 : 34|1@0+ (1,0) [0|1] "" XXX
@@ -545,7 +547,7 @@ BO_ 535 CURVE_CTRS: 8 XXX
 SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX
 SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
 SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX
- SG_ CURVE : 39|16@0+ (1,0) [0|7] "" XXX
+ SG_ SPEED : 39|16@0+ (0.01,0) [0|7] "kph" XXX
 SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
@@ -570,6 +572,9 @@ BO_ 540 CRZ_CTRL: 8 XXX
 SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
 SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 45|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|1] "" XXX

 BO_ 539 CRZ_INFO: 8 XXX
 SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
@@ -614,14 +619,14 @@ BO_ 1179 2017_7: 8 XXX

 BO_ 1435 2017_8: 8 XXX

-BO_ 253 NEW_MSG_7: 8 XXX
+BO_ 253 GAS: 8 XXX
 SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
 SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
 SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_CMD : 55|8@0+ (1,0) [0|255] "" XXX

-BO_ 359 NEW_MSG_11: 8 XXX
+BO_ 359 MORE_GAS: 8 XXX
 SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX
 SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX
@@ -700,6 +705,7 @@ BO_ 1143 BSM: 8 XXX
 SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
 SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX

 BO_ 1361 KEY_POSITION: 8 XXX

@@ -744,8 +750,12 @@ BO_ 1248 MOB4: 8 XXX



+CM_ SG_ 357 GEAR "13P, 26R, 13N, 24D";
 CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
 CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision";
+CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
+CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
+CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
 CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
 CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
 CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
@@ -755,6 +765,9 @@ CM_ SG_ 1157 WARNING "1 Rare, 0 often";
 CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
 CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
 CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled  TURN it OFF ";
-CM_ SG_ 552 GEAR "0 P/N, 12 R, 2 D M1, 4 M2, 14 Shift";
 CM_ SG_ 552 MORE_GEAR "";
+CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
+CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
 CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
+CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
+VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
@@ -0,0 +1,211 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+
+BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
+ SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 42 SEATBELT: 8 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
+ SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
+ SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
+
+BO_ 361 LKAS: 8 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_ SET_0x80_2 : 31|8@0+ (1,0) [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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
+
+BO_ 460 BRAKE_PEDAL: 8 XXX
+ SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
+
+BO_ 569 CRUISE_THROTTLE: 8 XXX
+ SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
+ SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ unsure4 : 39|6@0+ (1,0) [0|63] "" XXX
+ SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 640 CANCEL_MSG: 8 XXX
+  SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
+  SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
+  SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
+
+BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
+ SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" 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_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown08 : 8|7@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_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 783 CRUISE_STATE: 3 XXX
+ SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 852 ESP: 8 XXX
+ SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 853 HUD_SETTINGS: 8 XXX
+ SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 856 LIGHTS: 8 XXX
+ SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1057 GEARBOX: 3 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_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1549 DOORS_LIGHTS: 8 XXX
+ SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1227 LKAS_SETTINGS: 8 XXX
+ SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
+
+VAL_ 1057 GEAR_SHIFTER 7 "B" 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" ;
@@ -36,70 +36,41 @@ BS_:
 BU_: XXX


-BO_ 644 Speed_1: 8 XXX
- SG_ Speed_FR : 7|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_FL : 23|16@0+ (0.0118,0) [0|65535] "" XXX
- SG_ Speed_Vehicle : 39|16@0+ (0.0245,0) [0|65535] "" XXX
+BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
+ SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
+ SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX

-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_ 348 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
+ SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" 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 : 35|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 374 Maybe_Motor_RPM_or_Speed: 8 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 : 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 : 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
-
-BO_ 1107 Lights: 8 XXX
- SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
- SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
- SG_ _HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 666 WheelspeedFront: 8 XXX
- SG_ _FL_WHEELSPEED : 39|16@0+ (0.01014,0) [0|65535] "" 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_ 389 Steering: 8 XXX
+BO_ 361 LKAS: 8 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_ SET_0x80_2 : 31|8@0+ (1,0) [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
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 389 STEER_TORQUE_SENSOR: 8 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
+ SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
+ SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX

-BO_ 851 SPEED_RELATED: 8 XXX
- SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
+BO_ 438 PRO_PILOT: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
+ SG_ CRUISE_ACTIVATED : 38|1@0+ (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_ 386 Accelerator: 8 XXX
- SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" 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_ 523 CruiseThrottle: 6 XXX
+BO_ 523 CRUISE_THROTTLE: 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
@@ -111,13 +82,73 @@ BO_ 523 CruiseThrottle: 6 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_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
+ SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
 SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX

-BO_ 1108 DoorsLights: 8 XXX
+BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
+ SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
+
+BO_ 665 ESP: 8 XXX
+ SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" 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_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ unknown08 : 8|7@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_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
+ SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
+ SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
+
+BO_ 783 CRUISE_STATE: 3 XXX
+ SG_ CRUISE_ENABLED : 3|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_ 1107 LIGHTS: 8 XXX
+ SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1108 DOORS_LIGHTS: 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
@@ -130,49 +161,6 @@ BO_ 1108 DoorsLights: 8 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 : 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_ 361 LKAS: 8 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_ 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
- SG_ NEW_SIGNAL_4 : 27|4@0+ (1,0) [0|255] "" 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 : 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_ACTIVATED : 38|1@0+ (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
@@ -210,46 +198,15 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 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
+ SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" 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
-
-
-
+BO_ 1227 LKAS_SETTINGS: 8 XXX
+ SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX

+BO_ 1273 SEATBELT: 7 XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" 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" ;
@@ -38,24 +38,24 @@ BU_: XXX X

 BO_ 2 Steering: 8 XXX
 SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX

 BO_ 64 Throttle: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
- SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
- SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
+ SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
+ SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Throttle_Combo : 48|7@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 55|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
+ SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX

 BO_ 65 NEW_MSG_1: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
@@ -63,17 +63,18 @@ BO_ 65 NEW_MSG_1: 8 XXX
 SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
 SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX

-BO_ 72 NEW_MSG_2: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 72 Transmission: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX

 BO_ 316 NEW_MSG_3: 8 XXX

 BO_ 326 Cruise_Buttons: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
 SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
@@ -86,7 +87,7 @@ BO_ 315 G_Sensor: 8 XXX
 SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX

 BO_ 314 Wheel_Speeds: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
 SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
@@ -94,131 +95,156 @@ BO_ 314 Wheel_Speeds: 8 XXX
 SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX

 BO_ 73 NEW_MSG_5: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
 SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX

-BO_ 280 NEW_MSG_6: 8 XXX
+BO_ 280 STOP_START: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
+ SG_ State : 63|1@1+ (1,0) [0|1] "" XXX

 BO_ 281 Steering_Torque: 8 XXX
- SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
 SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
 SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
+ SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
 SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX

 BO_ 312 Brake_Pressure_L_R: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
- SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
 SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
+ SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX

 BO_ 313 Brake_Pedal: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 12|22@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
+ SG_ Signal2 : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
+ SG_ Signal3 : 48|16@1+ (1,0) [0|1] "" XXX

 BO_ 290 ES_LKAS: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
 SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
 SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX

 BO_ 722 NEW_MSG_10: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX

 BO_ 544 ES_Brake: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ Signal1 : 12|4@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
- SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
+ SG_ Signal2 : 32|4@1+ (1,0) [0|1] "" XXX
+ SG_ State : 36|4@1+ (1,0) [0|63] "" XXX
+ SG_ Signal3 : 40|24@1+ (1,0) [0|1] "" XXX

 BO_ 545 ES_Distance: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
- SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
- SG_ ACC_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_Set : 57|1@1+ (1,0) [0|1] "" XXX
- SG_ ACC_Resume : 58|1@1+ (1,0) [0|1] "" XXX
- SG_ Signal3 : 59|5@1+ (1,0) [0|1] "" XXX
+ SG_ ES_Cruise_Throttle : 12|20@1+ (1,0) [0|15] "" XXX
+ SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal1 : 33|4@1+ (1,0) [0|1] "" XXX
+ SG_ Distance_Swap : 37|1@1+ (1,0) [0|15] "" XXX
+ SG_ Signal2 : 38|2@1+ (1,0) [0|1] "" XXX
+ SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
+ SG_ Signal3 : 48|8@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ Signal4 : 59|5@1+ (1,0) [0|1] "" XXX

 BO_ 546 ES_Status: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
 SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX

 BO_ 554 ES_Blank: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
 SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX

 BO_ 557 NEW_MSG_14: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 576 CruiseControl: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX

 BO_ 577 NEW_MSG_16: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX

 BO_ 552 NEW_MSG_17: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX

 BO_ 912 Dashlights: 8 XXX
 SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
 SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
 SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX

 BO_ 940 BodyInfo: 8 XXX
- SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
+ SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
 SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
- SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
 SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX

 BO_ 801 ES_DashStatus: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
+ SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
 SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Hold : 60|4@1+ (1,0) [0|15] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX

 BO_ 802 ES_LKAS_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
 SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
@@ -237,62 +263,62 @@ BO_ 802 ES_LKAS_State: 8 XXX
 SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
 SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
 SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ Lead_Vehicle_Start_Alert : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
 SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
- SG_ Vehicle_In_Front_Has_Moved : 35|1@1+ (1,0) [0|1] "" XXX

 BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX

 BO_ 808 NEW_MSG_23: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 837 NEW_MSG_24: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX

 BO_ 838 NEW_MSG_25: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX

 BO_ 842 NEW_MSG_26: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX

 BO_ 915 NEW_MSG_27: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX

 BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX

 BO_ 816 NEW_MSG_29: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 826 NEW_MSG_30: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 839 NEW_MSG_31: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 2015 NEW_MSG_32: 8 XXX
@@ -305,38 +331,39 @@ BO_ 2024 NEW_MSG_33: 8 XXX
 SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX

 BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1632 NEW_MSG_36: 8 XXX
 SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX

 BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX

 BO_ 1677 Dash_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
 SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
+ SG_ Icy_Road_Warning : 20|1@1+ (1,0) [0|1] "" XXX

 BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1785 NEW_MSG_42: 8 XXX
@@ -360,10 +387,15 @@ BO_ 1787 NEW_MSG_45: 8 XXX



-CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
+CM_ SG_ 544 State "0 = ES disabled, 8 = ES enabled, 12, 13 = ES_Brake active";
+CM_ SG_ 545 ES_Cruise_Throttle "signal might be smaller, values do not correlate with Throttle:CruiseThrottle";
+CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
-CM_ SG_ 801 ACC_Hold "0 = No Hold, 3 = Hold";
-CM_ SG_ 802 Vehicle_In_Front_Has_Moved "Crosstrek 2018 = car in front has moved";
+CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
+CM_ SG_ 801 PCB_Off "Pre-Collision Braking";
+CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
 CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
 CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
 CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6" ;
@@ -38,11 +38,11 @@ BU_: XXX X

 BO_ 2 Steering: 8 XXX
 SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
- SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
 SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX

 BO_ 64 Throttle: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
 SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
 SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
@@ -55,7 +55,7 @@ BO_ 64 Throttle: 8 XXX
 SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX

 BO_ 65 NEW_MSG_1: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
@@ -63,17 +63,18 @@ BO_ 65 NEW_MSG_1: 8 XXX
 SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
 SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX

-BO_ 72 NEW_MSG_2: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 72 Transmission: 8 XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX

 BO_ 316 NEW_MSG_3: 8 XXX

 BO_ 326 Cruise_Buttons: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
 SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
@@ -86,7 +87,7 @@ BO_ 315 G_Sensor: 8 XXX
 SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX

 BO_ 314 Wheel_Speeds: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
 SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
@@ -94,7 +95,7 @@ BO_ 314 Wheel_Speeds: 8 XXX
 SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX

 BO_ 73 NEW_MSG_5: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
 SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX

@@ -105,7 +106,7 @@ BO_ 280 NEW_MSG_6: 8 XXX
 SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX

 BO_ 281 Steering_Torque: 8 XXX
- SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
 SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
 SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
@@ -114,39 +115,39 @@ BO_ 281 Steering_Torque: 8 XXX
 SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX

 BO_ 312 Brake_Pressure_L_R: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
 SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
 SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX

 BO_ 313 Brake_Pedal: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" 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

 BO_ 290 ES_LKAS: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
 SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
 SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX

 BO_ 722 NEW_MSG_10: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX

 BO_ 544 ES_Brake: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
 SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX

 BO_ 545 ES_Distance: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
 SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
@@ -154,73 +155,75 @@ BO_ 545 ES_Distance: 8 XXX
 SG_ Signal3 : 57|7@1+ (1,0) [0|1] "" XXX

 BO_ 546 ES_Status: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
 SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
 SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX

 BO_ 554 ES_Blank: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
 SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX

 BO_ 557 NEW_MSG_14: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 576 CruiseControl: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
 SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX

 BO_ 577 NEW_MSG_16: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX

 BO_ 552 NEW_MSG_17: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX

 BO_ 912 Dashlights: 8 XXX
 SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
 SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
 SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX

 BO_ 940 BodyInfo: 8 XXX
- SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
 SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
- SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
 SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
+ SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX

 BO_ 801 ES_DashStatus: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_9 : 60|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
+ SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
 SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
- SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
- SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
- SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
 SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
+ SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX

 BO_ 802 ES_LKAS_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
 SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
@@ -244,57 +247,57 @@ BO_ 802 ES_LKAS_State: 8 XXX
 SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX

 BO_ 805 ES_NEW_MSG_22: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX

 BO_ 808 NEW_MSG_23: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 837 NEW_MSG_24: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX

 BO_ 838 NEW_MSG_25: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX

 BO_ 842 NEW_MSG_26: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX

 BO_ 915 NEW_MSG_27: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX

 BO_ 1788 NEW_MSG_28: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX

 BO_ 816 NEW_MSG_29: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 826 NEW_MSG_30: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 839 NEW_MSG_31: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 2015 NEW_MSG_32: 8 XXX
@@ -307,38 +310,38 @@ BO_ 2024 NEW_MSG_33: 8 XXX
 SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX

 BO_ 1614 NEW_MSG_34: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1617 NEW_MSG_35: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1632 NEW_MSG_36: 8 XXX
 SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX

 BO_ 1650 NEW_MSG_37: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1657 NEW_MSG_38: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1658 NEW_MSG_39: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
 SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX

 BO_ 1677 Dash_State: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
 SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX

 BO_ 1743 NEW_MSG_41: 8 XXX
- SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
 SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX

 BO_ 1785 NEW_MSG_42: 8 XXX
@@ -364,7 +367,9 @@ BO_ 1787 NEW_MSG_45: 8 XXX

 CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
 CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
+CM_ SG_ 801 Cruise_State "0 = Normal, 3 = Hold";
 CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
 CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
 CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
 CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
+VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -113,7 +113,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -113,7 +113,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX

 BO_ 353 DSU_SPEED: 8 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
-
+ 
+BO_ 452 ENGINE_RPM: 8 CGW
+ SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
+ 
 BO_ 466 PCM_CRUISE: 8 XXX
 SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
 SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@@ -702,36 +702,58 @@ BO_ 1088 Getriebe_1: 8 XXX
 SG_ Status_Getriebe_und_Wandlerschu : 1|1@1+ (1,0) [0|0] "" XXX
 SG_ Schaltung_aktiv__Getriebe_1_ : 0|1@1+ (1,0) [0|0] "" XXX

-BO_ 912 Gateway_Komfort_1: 6 XXX
- SG_ Bremslicht_Anhaenger : 47|1@1+ (1,0) [0|0] "" XXX
- SG_ Anhaenger_erkannt_Gateway : 46|1@1+ (1,0) [0|0] "" XXX
- SG_ ECD_AAG_unplausibel : 45|1@1+ (1,0) [0|0] "" XXX
- SG_ BLS_AAG_unplausibel : 44|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Anhaenger : 40|4@1+ (1,0) [0|15] "" XXX
- SG_ Frei_Gateway_Komfort_1_4 : 34|6@1+ (1,0) [0|0] "" XXX
- SG_ ECD_ILM_unplausibel : 33|1@1+ (1,0) [0|0] "" XXX
- SG_ BLS_ILM_unplausibel : 32|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslicht_mitte_defekt : 31|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslicht_rechts_defekt : 30|1@1+ (1,0) [0|0] "" XXX
- SG_ Bremslicht_links_defekt : 29|1@1+ (1,0) [0|0] "" XXX
- SG_ Rueckfahrlicht_Gateway : 28|1@1+ (1,0) [0|0] "" XXX
- SG_ Zaehler_Bremslicht : 24|4@1+ (1,0) [0|15] "" XXX
- SG_ Frei_Gateway_Komfort_1_3 : 17|7@1+ (1,0) [0|0] "" XXX
- SG_ Fahrertuerkontakt : 16|1@1+ (1,0) [0|0] "" XXX
- SG_ RDK_Systemfehler : 15|1@1+ (1,0) [0|0] "" XXX
- SG_ RDK_Warnstufe_1 : 14|1@1+ (1,0) [0|0] "" XXX
- SG_ RDK_Warnstufe_2 : 13|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_Reserverad : 12|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_hinten_recht : 11|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_hinten_links : 10|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_vorn_rechts : 9|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_vorn_links : 8|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Gateway_Komfort_1_2 : 5|3@1+ (1,0) [0|0] "" XXX
- SG_ Fahrertuerkontakt_veraltet : 4|1@1+ (1,0) [0|0] "" XXX
- SG_ Frei_Gateway_Komfort_1_1 : 3|1@1+ (1,0) [0|0] "" XXX
- SG_ Licht_1_Botschaft_veraltet : 2|1@1+ (1,0) [0|0] "" XXX
- SG_ Anhaenger_Botschaft_veraltet : 1|1@1+ (1,0) [0|0] "" XXX
- SG_ Reifendruckwarnung_veraltet : 0|1@1+ (1,0) [0|0] "" XXX
+BO_ 912 Gate_Komf_1: 8 XXX
+ SG_ GK1_Sta_RDK_Warn : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Anhaen : 1|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Licht3 : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Tuerkont : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Li_vorn : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_SleepAckn : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_CharismaModus m1 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ GK1_SamFktNr M : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ GK1_Fa_Tuerkont : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_RueckfahrSch : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_ELV_verrieg : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Kessy_2 : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Stdhzg : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_SH_Verbau : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_ParkFrontWi : 22|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_KW_Warm : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ BCM_Remotestart_Betrieb : 24|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Rueckfahr : 28|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BrLi_links : 29|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BrLi_rechts : 30|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BrLi_mitte : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BLS_ILM : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_EDC_ILM : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Blinker_li : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Blinker_re : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_def_P_verr : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_LS1_Fernlicht : 37|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_Licht2 : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_LSM : 39|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Count_Anhaen : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ GK1_BLS_AAG : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_EDC_AAG : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Anhaenger : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_BrLi_Anhaen : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Abblendlicht : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Fernlicht : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Wischer_vorn : 50|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Sta_ILM_F_1 : 51|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Abbl_VL_def : 52|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Abbl_VR_def : 53|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Blink_Autob : 54|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Warnblk_Status : 55|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_SH_laeuft : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ SH1_ein_Wasserpumpe : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Nebel_ein : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Bremslicht : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_Anh_abgesteckt : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_AnhKonLamp : 61|1@1+ (1,0) [0|1] "" XXX
+ SG_ LDS_Stellung_AFL : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ GK1_SH_Zusatzfkt : 63|1@1+ (1,0) [0|1] "" XXX

 BO_ 1340 Fahrwerk_1: 1 XXX
 SG_ Frei_Fahrwerk_1_2 : 7|1@1+ (1,0) [0|0] "" XXX
@@ -1040,11 +1062,338 @@ BO_ 1324 ADR_1: 8 XXX
 SG_ Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX

-BO_ 210 PQ_HCA: 8 XXX
- SG_ HCA_Torque : 16|15@1+ (1,0) [0|32767] "" XXX
- SG_ UNK_Bit : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ HCA_Torque_VZ : 31|1@0+ (1,0) [0|1] "" XXX
- SG_ PQ_HCA_BZ : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ PQ_HCA_Checksum : 0|4@1+ (1,0) [0|15] "" XXX
+BO_ 1550 Einheiten_1: 2 XXX
+ SG_ MFA_v_Einheit_02 : 0|1@1+ (1,0) [0|1] "" XXX

-BO_ 1490 VIN_1: 8 XXX
+BO_ 872 ACC_System: 8 XXX
+ SG_ ACS_Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ ACS_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ ACS_Sta_ADR : 12|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACS_ADR_Schub : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_Schubabsch : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_StSt_Info : 16|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACS_MomEingriff : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_Typ_ACC : 19|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACS_FreigSollB : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
+ SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACS_zul_Regelabw : 40|8@1+ (1,0.005) [0|1.265] "Unit_MeterPerSeconSquar" XXX
+ SG_ ACS_max_AendGrad : 48|8@1+ (1,0.02) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
+
+BO_ 1386 ACC_GRA_Anziege: 8 XXX
+ SG_ ACA_Checksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX
+ SG_ ACA_Fahrerhinw : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_AnzDisplay : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Zeitluecke : 18|4@1+ (1,0) [0|15] "" XXX
+ SG_ ACA_V_Wunsch : 24|8@1+ (1,0) [0|255] "Unit_KiloMeterPerHour" XXX
+ SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_PrioDisp : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX
+ SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX
+ SG_ ACA_ID_StaGRA : 51|5@1+ (1,0) [0|31] "" XXX
+ SG_ ACA_Codierung : 56|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Tachokranz : 57|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Aend_Zeitluecke : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACA_Zaehler : 60|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 208 Lenkhilfe_3: 8 XXX
+ SG_ LH3_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ LH3_BS_Spiegel : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH3_Zaehler : 12|4@4+ (1,0) [0|15] "" XXX
+ SG_ LH3_LM : 16|10@1+ (1,0) [0|1023] "" XXX
+ SG_ LH3_LMSign : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH3_LMValid : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH3_Sta_DSR : 28|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH3_BLW : 32|12@1+ (0.15,0) [0|615] "" XXX
+ SG_ LH3_BLWSign : 44|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH3_BLWValid : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH3_Lenkungstyp : 46|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 978 Lenkhilfe_2: 8 XXX
+ SG_ LH2_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ LH2_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH2_Geradeaus : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH2_Sta_Charisma : 13|3@1+ (1,0) [0|7] "" XXX
+ SG_ LH2_Sta_HCA : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH2_Ausg_LW1 : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH2_Ausg_LW1_gue : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ LH2_StatEPS_PLA : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH2_aktLenkeingriff : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ LH2_PLA_Err : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ LH2_PLA_Abbr : 52|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 210 HCA_1: 5 XXX
+ SG_ HCA_Checksumme : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ HCA_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ HCA_Status : 12|4@1+ (1,0) [0|15] "" XXX
+ SG_ LM_Offset : 16|15@1+ (0.03125,0) [0|300] "cNm" XXX
+ SG_ LM_OffSign : 31|1@1+ (1,0) [0|1] "" XXX
+ SG_ Vib_Freq : 32|4@1+ (4,0) [0|60] "Hz" XXX
+ SG_ Vib_Amp : 36|4@1+ (0.5,0) [0|7.5] "Nm" XXX
+
+BO_ 1470 LDW_1: 8 XXX
+ SG_ Right_Lane_Status : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ Left_Lane_Status : 2|2@1+ (1,0) [0|3] "" XXX
+ SG_ LDW_Direction : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X1 : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ Kombi_Lamp_Orange : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ Kombi_Lamp_Green : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ XX_LDW_Maybe_Warning : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ XX_DLCORTLC1 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ XX_DLCORTLC2 : 32|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 428 Bremse_8: 8 XXX
+ SG_ BR8_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ BR8_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ BR8_Sta_ACC_Anf : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Verz_EPB_akt : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Sta_Br_temp : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Sta_Br_Druck : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_TolAbgl_HL : 16|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX
+ SG_ BR8_TolAbgl_HR : 24|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX
+ SG_ BR8_Istbeschl : 32|9@1+ (0.02,-7.22) [-7.22|2.98] "Unit_MeterPerSeconSquar"  XXX
+ SG_ BR8_Sta_HW_BLS : 41|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_QB_LBeschl : 42|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_ESC_Mode : 43|2@1+ (1,0) [0|3] "" XXX
+ SG_ BR8_aktBrSyst : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Fa_bremst : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_StaBrSyst : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Laengsbeschl : 48|10@1+ (0.03125,-16) [-15.96875|15.9375] "Unit_MeterPerSeconSquar" XXX
+ SG_ BR8_Sta_ADR_BR : 58|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Quattro : 59|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Sta_VerzReg : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Sta_BLS : 61|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Verz_EPB : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ BR8_Check_EPB : 63|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 928 Bremse_10: 8 XXX
+  SG_ B10_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
+  SG_ B10_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+  SG_ B10_QB_Wegimp_VL : 12|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Wegimp_VR : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Wegimp_HL : 14|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Wegimp_HR : 15|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Wegimp_VL : 16|10@1+ (1,0) [0|1000] "" XXX
+  SG_ B10_Wegimp_VR : 26|10@1+ (1,0) [0|1000] "" XXX
+  SG_ B10_Wegimp_HL : 36|10@1+ (1,0) [0|1000] "" XXX
+  SG_ B10_Wegimp_HR : 46|10@1+ (1,0) [0|1000] "" XXX
+  SG_ B10_QB_Fahrtr_VL : 56|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Fahrtr_VR : 57|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Fahrtr_HL : 58|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_QB_Fahrtr_HR : 59|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Fahrtr_VL : 60|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Fahrtr_VR : 61|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Fahrtr_HL : 62|1@1+ (1,0) [0|1] "" XXX
+  SG_ B10_Fahrtr_HR : 63|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 835 RDK_Status: 3 XXX
+  SG_ RKS_Reifen_VL : 0|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Reifen_VR : 1|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Reifen_HL : 2|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Reifen_HR : 3|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Reifen_RR : 4|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Warnung_2 : 5|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Warnung_1 : 6|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Systemfehler : 7|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Kalibrier_abgew : 8|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Druckdiff_Vorn : 9|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Druckdiff_Hinten : 10|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Befuellung_RR_low : 11|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Funkstoerung : 12|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_System_Aus : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_KD_Fehler : 15|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Lampe : 16|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Ton : 17|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Gong : 18|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_RDK_Blinkbit : 19|1@1+ (1,0) [0|1] "" XXX
+  SG_ RKS_Teillast : 20|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 914 Gate_Komf_2: 8 XXX
+  SG_ GK2_Sta_LSM : 0|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Lichtsensor : 1|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_VSG : 3|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Schluessel : 4|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Profil : 5|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Clima2 : 6|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_BSG4 : 7|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Sta_Kessy_4 : 8|1@1+ (1,0) [0|1] "" XXX
+  SG_ BS4_Gleitende_Leuchtw_Anf : 9|1@1+ (1,0) [0|1] "" XXX
+  SG_ BS4_GLW_Fernlicht_Anf : 10|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Blk_L_Kontrolle : 11|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Blk_R_Kontrolle : 12|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_LS_KomFehler : 14|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_LS_def : 15|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Helligkeit : 16|3@1+ (714.286,0) [0|5000.002] "Unit_Lux" XXX
+  SG_ GK2_VD_zu_ver : 19|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_VD_entriegelt : 20|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_VD_offen_ver : 21|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Verdeck_Anf : 22|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_VDKD_auf : 23|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Schluessel : 24|4@1+ (1,0) [0|15] "" XXX
+  SG_ GK2_Hardtop : 28|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_AFL_Schalter : 29|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Nebelschluss : 30|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_EM_LIN_ungueltig : 31|1@1+ (1,0) [0|1] "" XXX
+  SG_ GK2_Profil : 32|4@1+ (1,0) [0|15] "" XXX
+  SG_ GK2_Kl_StSt_Info : 36|2@1+ (1,0) [0|3] "" XXX
+  SG_ GK2_BSG_StSt_Info : 38|2@1+ (1,0) [0|3] "" XXX
+  SG_ GK2_BEM_P_Generator : 40|8@1+ (50,0) [0|12700] "Unit_Watt" XXX
+  SG_ GK2_BEM_Abschaltstufen : 48|3@1+ (1,0) [0|7] "" XXX
+  SG_ GK2_BEM_DFM : 51|5@1+ (3.225,0.025) [0.025|100] "Unit_PerCent" XXX
+  SG_ GK2_Kessy_StSt_Info : 56|2@1+ (1,0) [0|3] "" XXX
+  SG_ GK2_BEM_StSt_Info : 58|2@1+ (1,0) [0|3] "" XXX
+
+ BO_ 1175 Parkhilfe_01: 8 XXX
+  SG_ PH_Abschaltursache : 13|3@1+ (1,0) [0|7] "" XXX
+  SG_ PH_Opt_Anzeige_V_ein : 16|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Opt_Anzeige_H_ein : 17|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Opt_Anz_V_Hindernis : 18|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Opt_Anz_H_Hindernis : 19|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Tongeber_V_aktiv : 20|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Tongeber_H_aktiv : 21|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Tongeber_mute : 22|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Anf_Audioabsenkung : 23|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Frequenz_hinten : 32|4@1+ (1,0) [0|15] "" XXX
+  SG_ PH_Lautstaerke_hinten : 36|4@1+ (1,0) [0|15] "" XXX
+  SG_ PH_Frequenz_vorn : 40|4@1+ (1,0) [0|15] "" XXX
+  SG_ PH_Lautstaerke_vorn : 44|4@1+ (1,0) [0|15] "" XXX
+  SG_ PH_Trigger_Bildaufschaltung : 48|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_StartStopp_Info : 49|2@1+ (1,0) [0|3] "" XXX
+  SG_ PH_Aufbauten_erk : 51|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_BerErk_vorn : 52|2@1+ (1,0) [0|3] "" XXX
+  SG_ PH_BerErk_hinten : 54|2@1+ (1,0) [0|3] "" XXX
+  SG_ PH_defekt : 56|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_gestoert : 57|1@1+ (1,0) [0|1] "" XXX
+  SG_ PH_Systemzustand : 58|3@1+ (1,0) [0|7] "" XXX
+  SG_ PH_Display_Kundenwunsch : 61|2@1+ (1,0) [0|3] "" XXX
+  SG_ PH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 1463 Bremse_11: 8 XXX
+  SG_ B11_HydHalten : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ B11_Br_StSt_Info : 14|2@1+ (1,0) [0|3] "" XXX
+  SG_ B11_OBD_Nib_VL : 16|4@1+ (1,0) [0|15] "" XXX
+  SG_ B11_OBD_Nib_VR : 20|4@1+ (1,0) [0|15] "" XXX
+  SG_ B11_OBD_Nib_HL : 24|4@1+ (1,0) [0|15] "" XXX
+  SG_ B11_OBD_Nib_HR : 28|4@1+ (1,0) [0|15] "" XXX
+  SG_ B11_EPB_Steller_akt : 32|1@1+ (1,0) [0|1] "" XXX
+  SG_ B11_EPB_Steller_gue : 33|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 1500 Soll_Verbauliste_neu: 8 XXX
+  SG_ VL1_Motor_SG : 0|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Getr_SG : 1|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_ABS : 2|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Kombi : 3|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_LSM : 4|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Airbag : 5|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Lenkhilfe : 6|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_dyn_LWR : 7|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_res_08 : 8|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Allrad : 9|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_ADR : 10|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_ADR_getrennt : 11|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_EPB : 12|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_res_13 : 13|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Daempfer : 14|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Quersperre : 15|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_MotorSlave : 16|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_SWA : 17|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_HCA : 18|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_RKA_Plus : 19|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_PLA : 20|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_WFS_KBI : 21|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Kombi_KBI : 22|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Soll_eq_Ist : 23|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_BSG_Komf : 24|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_ZKE : 25|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TSG_FT : 26|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TSG_BT : 27|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TSG_HL : 28|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TSG_HR : 29|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Memory : 30|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Dachmodul_K : 31|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Zentralelektrik_II : 32|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_RDK : 33|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Lenksaeule : 34|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Gateway : 35|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Clima_Komf : 36|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Einparkhilfe : 37|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_PTC_Heizung : 38|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Standheiz : 39|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Verdeck : 40|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_RSE_I : 41|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_res_42 : 42|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_MDI_I : 43|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Anhaenger : 44|1@1+ (1,0) [0|1] ""  SWA
+  SG_ VL1_Memory_BF : 45|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Easy_Entry_VF : 46|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Easy_Entry_VB : 47|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Heckdeckel : 48|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Rearview : 49|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Sonderfzg_SG : 50|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Tastenmodul : 51|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Kompass : 52|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_WFS_K : 53|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_GSM_Pager : 54|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_InfoElektronik : 55|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_DSP : 56|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_DAB : 57|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Telematik : 58|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Navigation : 59|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_TV_Tuner : 60|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Neigungsmodul_I : 61|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Radio : 62|1@1+ (1,0) [0|1] "" XXX
+  SG_ VL1_Telefon : 63|1@1+ (1,0) [0|1] "" XXX
+
+ BO_ 1490 Ident: 8 XXX
+  SG_ IDT_Mux M : 0|2@1+ (1,0) [0|2] "" XXX
+  SG_ IDT_Geheimnis_1 m0 : 8|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_4 m1 : 8|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_11 m2 : 8|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_Geheimnis_2 m0 : 16|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_5 m1 : 16|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_12 m2 : 16|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_Geheimnis_3 m0 : 24|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_6 m1 : 24|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_13 m2 : 24|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_Geheimnis_4 m0 : 32|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_7 m1 : 32|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_14 m2 : 32|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_1 m0 : 40|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_8 m1 : 40|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_15 m2 : 40|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_2 m0 : 48|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_9 m1 : 48|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_16 m2 : 48|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_3 m0 : 56|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_10 m1 : 56|8@1+ (1,0) [0|255] "" XXX
+  SG_ IDT_VIN_17 m2 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 2000 Diagnose_1: 8 XXX
+ SG_ DI1_VerlernZaehl : 0|8@1+ (1,0) [0|254] "" XXX
+ SG_ DI1_km_Stand : 8|20@1+ (1,0) [0|1048575] "Unit_KiloMeter" XXX
+ SG_ DI1_Jahr : 28|7@1+ (1,2000) [2000|2127] "Unit_Year" XXX
+ SG_ DI1_Monat : 35|4@1+ (1,0) [1|12] "Unit_Month" XXX
+ SG_ DI1_Tag : 39|5@1+ (1,0) [0|31] "Unit_Day" XXX
+ SG_ DI1_Stunde : 44|5@1+ (1,0) [0|23] "Unit_Hours" XXX
+ SG_ DI1_Minute : 49|6@1+ (1,0) [0|59] "Unit_Minut" XXX
+ SG_ DI1_Sekunde : 55|6@1+ (1,0) [0|59] "Unit_Secon" XXX
+ SG_ DI1_KM_Stand_alt : 62|1@1+ (1,0) [0|1] "" XXX
+ SG_ DI1_Zeit_alt : 63|1@1+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 210 LM_Offset "centiNewton-meters for ease of calculation without FP math in Panda";
+CM_ SG_ 210 Vib_Amp "Steering wheel haptic, amplitude";
+CM_ SG_ 210 Vib_Freq "Steering wheel haptic, frequency";
+CM_ SG_ 1386 ACA_V_Wunsch "255=unset";
+CM_ SG_ 1470 LDW_Direction "0=right,1=left";
+CM_ SG_ 1470 XX_DLCORTLC1 "Might be DLC or TLC";
+CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size";
+CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
+
+VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U";
@@ -1254,9 +1254,26 @@ BO_ 695 RCTA_01: 8 XXX
 SG_ RCTA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
 SG_ RCTA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX

-BO_ 783 SWA_01: 8 XXX
- SG_ SWA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ SWA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
+BO_ 783 SWA_01: 8 Gateway_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  Vector__XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  Vector__XXX
+ SG_ SWA_Anzeigen : 12|4@1+ (1,0) [0|15] ""  Kombi_D4
+ SG_ SWA_Blindheit_erkannt : 16|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_rel_Nichtverf : 17|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_rel_Fehler : 18|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Sta_aktiv : 19|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Sta_passiv : 20|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Standziele_li : 24|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_li : 25|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Infostufe_SWA_li : 26|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Warnung_SWA_li : 27|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_mi : 33|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Standziele_re : 40|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Kolonne_re : 41|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Infostufe_SWA_re : 42|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Warnung_SWA_re : 43|1@1+ (1,0) [0|1] ""  Vector__XXX
+ SG_ SWA_Gischtzaehler : 48|7@1+ (1,0) [0|100] "Unit_PerCent"  Vector__XXX
+ SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] ""  Vector__XXX

 BO_ 804 ACC_04: 8 XXX
 SG_ ACC_04_CRC : 0|8@1+ (1,0) [0|255] "" XXX
@@ -11,7 +11,7 @@ jobs:
      - run:
          name: Run safety test
          command: |
-            docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"
+            docker run panda_safety /bin/bash -c "cd /openpilot/panda/tests/safety; PYTHONPATH=/openpilot ./test.sh"

  misra-c2012:
    machine:
@@ -23,9 +23,13 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
 }

 void black_enable_can_transcievers(bool enabled) {
-  uint8_t t1 = enabled ? 1U : 2U;  // leave transciever 1 enabled to detect CAN ignition
-  for(uint8_t i=t1; i<=4U; i++) {
-    black_enable_can_transciever(i, enabled);
+  for(uint8_t i=1U; i<=4U; i++){
+    // Leave main CAN always on for CAN-based ignition detection
+    if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
+      black_enable_can_transciever(i, true);
+    } else {
+      black_enable_can_transciever(i, enabled);
+    }
  }
 }

--- a/Show More
+++ b/Show More